Monitoring device, monitoring method and program for monitoring
First Claim
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1. A monitoring device comprising:
- first means for determining an optical flow from an image taken with a camera capturing the surroundings of a vehicle;
second means for determining a background flow, which is an optical flow for the image under the assumption that the image is a background, based on motion of the vehicle and a space model modeling a space the camera is capturing, the space model identifying correspondence between points on the image and coordinates of a real world three-dimensional coordinate system; and
third means for detecting motion of an object existing in the surroundings of the vehicle by comparing the optical flow with the background flow.
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Abstract
In a monitoring device for vehicles, an optical flow detection section determines an optical flow from an image taken with a camera. A background flow estimation section determines a background flow, which is a flow for the camera image under the assumption that the image is a background, based on the motion of the vehicle. An approaching object detection section detects motion of an object in the surroundings of the vehicle by comparing the optical flow with the background flow.
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Citations
16 Claims
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1. A monitoring device comprising:
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first means for determining an optical flow from an image taken with a camera capturing the surroundings of a vehicle; second means for determining a background flow, which is an optical flow for the image under the assumption that the image is a background, based on motion of the vehicle and a space model modeling a space the camera is capturing, the space model identifying correspondence between points on the image and coordinates of a real world three-dimensional coordinate system; and third means for detecting motion of an object existing in the surroundings of the vehicle by comparing the optical flow with the background flow. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A monitoring device comprising:
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first means for determining an optical flow from an image taken with a camera capturing the surroundings of a vehicle, second means for determining a space flow, which is motion of a point on the image in a real world coordinate system, based on the optical flow, motion of the vehicle and a space model modeling a space the camera is capturing, the space model identifying correspondence between points on the image and coordinates of a real world three-dimensional coordinate system; and third means for detecting motion of an object existing in the surroundings of the vehicle based on the space flow.
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12. A monitoring method comprising the steps of:
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determining an optical flow from an image taken with a camera capturing the surroundings of a vehicle; determining a background flow, which is an optical flow for the image under the assumption that the image is a background, based on motion of the vehicle and a space model modeling a space the camera is capturing, the space model identifying correspondence between points on the image and coordinates of a real world three-dimensional coordinate system; and detecting motion of an object existing in the surroundings of the vehicle by comparing the optical flow with the background flow. - View Dependent Claims (13, 14)
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15. A computer program embedded on a computer readable medium for monitoring, allowing a computer to execute the steps of:
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determining an optical flow from an image taken with a camera capturing the surroundings of a vehicle; determining a background flow, which is an optical flow for the image under the assumption that the image is a background, based on motion of the vehicle and a space model modeling a space the camera is capturing, the space model identifying correspondence between points on the image and coordinates of a real world three-dimensional coordinate system; and detecting motion of an object existing in the surroundings of the vehicle by comparing the optical flow with the background flow. - View Dependent Claims (16)
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Specification