Object detection apparatus, object detection method, object detection program, and distance sensor
First Claim
1. An object detection apparatus for detecting a detection subject existing in a predetermined space, comprising:
- an object model recording unit that records an object model, the object model being an image expressing a form of at least one detection subject to be detected;
a distance sensor that detects at least one object candidate and calculates the distance to said object candidate by emitting electromagnetic waves in a radial form so as to cover the entirety of said predetermined space and detecting reflected waves of said electromagnetic waves;
a stereo image sensor that captures two images of said object candidate from different viewpoints and obtains image information from said two captured images;
a model conversion unit that calculates a comparison model, which is an image in which the size of said object model is converted to a size corresponding to said calculated distance to said object candidate; and
a determination unit that extracts a comparison image from said image information and determines a similarity between said comparison model and said comparison image,wherein said determination unit determines whether or not said object candidate is said detection subject on the basis of said similarity between said comparison model and said comparison image.
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Accused Products
Abstract
The present invention provides an object detection apparatus for detecting at least one object existing in an observation subject space. The object detection apparatus comprises an object model recording unit 3 that calculates and records an object model, which is an image expressing the form of a detection subject, a millimeter wave distance sensor 1 that calculates the distance to an object candidate by emitting millimeter waves so as to cover the entirety of the observation subject space at one time, a stereo image sensor 2 that calculates a characteristic image and a distance image having different viewpoints, a control unit 7 that selects an object candidate, a model conversion unit 4 that calculates a comparison model from the object model, a comparison image extraction unit 5 that extracts a comparison image from the characteristic image and distance image, and a similarity comparison unit 6 that calculates the similarity between the comparison model and comparison image, and when a maximum similarity is within a predetermined range, calculates the three-dimensional position of the object from the coordinates of the comparison image and the distance to the object candidate, and outputs the three-dimensional position of the object to the outside.
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Citations
12 Claims
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1. An object detection apparatus for detecting a detection subject existing in a predetermined space, comprising:
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an object model recording unit that records an object model, the object model being an image expressing a form of at least one detection subject to be detected; a distance sensor that detects at least one object candidate and calculates the distance to said object candidate by emitting electromagnetic waves in a radial form so as to cover the entirety of said predetermined space and detecting reflected waves of said electromagnetic waves; a stereo image sensor that captures two images of said object candidate from different viewpoints and obtains image information from said two captured images; a model conversion unit that calculates a comparison model, which is an image in which the size of said object model is converted to a size corresponding to said calculated distance to said object candidate; and a determination unit that extracts a comparison image from said image information and determines a similarity between said comparison model and said comparison image, wherein said determination unit determines whether or not said object candidate is said detection subject on the basis of said similarity between said comparison model and said comparison image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An object detection method for detecting a detection subject existing in a predetermined space, comprising:
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recording a model form of at least one detection subject to be detected as an object model; detecting at least one object candidate and calculating the distance to said object candidate by emitting electromagnetic waves in a radial form so as to cover the entirety of said predetermined space and detecting reflected waves of said electromagnetic waves; capturing two images of said object candidate from different viewpoints and obtaining image information from said two captured images; calculating a comparison model, which is an image in which the size of said object model is converted to a size corresponding to said calculated distance to said object candidate; extracting a comparison image from said image information; determining a similarity between said comparison model and said comparison image; and determining whether or not said object candidate is said detection subject on the basis of said similarity between said comparison model and said comparison image. - View Dependent Claims (10)
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11. An object detection program stored on a computer-readable medium, for causing a computer to execute an object detection method for detecting a detection subject existing in a predetermined space, said program comprising:
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recording a model form of at least one detection subject to be detected as an object model; detecting at least one object candidate and calculating the distance to said object candidate by emitting electromagnetic waves in a radial form so as to cover the entirety of said predetermined space and detecting reflected waves of said electromagnetic waves; capturing two images of said object candidate from different viewpoints and obtaining image information from said two captured images; and calculating a comparison model, which is an image in which the size of said object model is converted to a size corresponding to said calculated distance to said object candidate; extracting a comparison image from said image information; determining a similarity between said comparison model and said comparison image; and determining whether or not said object candidate is said detection subject on the basis of said similarity between said comparison model and said comparison image. - View Dependent Claims (12)
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Specification