Vehicle surroundings monitoring apparatus

• US 7,483,549 B2
• Filed: 11/28/2005
• Issued: 01/27/2009
• Est. Priority Date: 11/30/2004
• Status: Expired due to Fees

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Nagaoka, Nobuharu, Hashimoto, Hideki
• Primary Examiner(s): Tabatabai; Abolfazl
• Application Number:
  US11/287,869
• Publication Number:
  US 20060115115A1
• Time in Patent Office: 1,156 Days
• Field of Search: 382/103, 382/104, 382/106, 382/209, 340/3.1, 340/3.9, 340/435, 340/573.3, 340901-904, 340/932, 340/933, 340/935, 340/938, 340/988, 340/991, 340/995.17, 701/1, 701/49, 701/53, 701/300, 348/113, 348/148, 348/149
• US Class Current: 382/104
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 40/10 Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands

Abstract

A vehicle surroundings monitoring apparatus that extracts a body present in the surrounding of a vehicle as an object, based on an image captured by an infrared imaging device, includes: a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale images of the image; a search region setting device that sets a plurality of search regions vertically using a predetermined height as a reference; a search region extraction device that extracts a search region having a distance to the infrared imaging device substantially equal to a distance between the binarized object and the infrared imaging device, among a plurality of the search regions; a correlation degree determination device that determines a degree of correlation between the plurality of search regions; a height calculation device that calculates a height of the binarized object; and an object type determination device that determines a type of the object.

Claims

1. A vehicle surroundings monitoring apparatus that extracts a body present in the surrounding of a vehicle as an object, based on an image captured by an infrared imaging device, comprising:

a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale images of the image;

a search region setting device that sets a plurality of search regions vertically using a predetermined height as a reference around the binarized object extracted by the binarized object extraction device, in the gray scale image;

a search region extraction device that extracts a search region having a distance to the infrared imaging device substantially equal to a distance between the binarized object and the infrared imaging device, among a plurality of the search regions set by the search region setting device;

a correlation degree determination device that determines a degree of correlation between the plurality of search regions extracted by the search region extraction device;

a height calculation device that calculates a height of the binarized object in the gray scale image, based on a determination result by the correlation degree determination device; and

an object type determination device that determines a type of the object based on the height of the binarized object calculated by the height calculation device.

2. A vehicle surroundings monitoring apparatus according to claim 1, wherein the search region setting device sets a plurality of search regions horizontally for the respective predetermined heights using a plurality of different predetermined heights as a reference.

3. A vehicle surroundings monitoring apparatus according to claim 1, wherein the correlation degree determination device determines the continuity of the plurality of search regions.

4. A vehicle surroundings monitoring apparatus according to claim 1, further comprising:

a pedestrian recognition device that recognizes a pedestrian present in the surrounding of a vehicle based on the image, the pedestrian recognition device executing pedestrian recognition processing on the object when the object is determined by the object type determination device to be something other than a manmade structure or to be a pedestrian.

5. A vehicle surroundings monitoring apparatus according to claim 1, further comprising:

a warning output device that outputs a warning directed to the object when the object is determined by the object type determination device to be something other than a manmade structure or to be a pedestrian.