Apparatus, method, and computer product for discriminating object
First Claim
Patent Images
1. An apparatus for discriminating an imaged object within an image based on the image shot by a monocular camera, the apparatus comprising:
- an object detecting unit that detects an object in the image by applying a saliency calculation to the image; and
an object discriminating unit that applies a neural network method to the object detected by the object detecting unit to discriminate whether the object is a potential obstacle, whereinthe object detecting unit detects the object as a salient feature that is not found in a learning base commonly extracted from a plurality of background images without the object.
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Abstract
An apparatus discriminates a potential obstacle in the path of a vehicle from among various objects in an image shot by a monocular camera. First, an object detecting unit detects an object in the image by applying a saliency calculation to the image. Second, an object discriminating unit discriminates an object from among the objects detected by the object detecting unit as a potential obstacle by applying a neural network method to the objects.
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Citations
15 Claims
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1. An apparatus for discriminating an imaged object within an image based on the image shot by a monocular camera, the apparatus comprising:
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an object detecting unit that detects an object in the image by applying a saliency calculation to the image; and an object discriminating unit that applies a neural network method to the object detected by the object detecting unit to discriminate whether the object is a potential obstacle, wherein the object detecting unit detects the object as a salient feature that is not found in a learning base commonly extracted from a plurality of background images without the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus for discriminating an imaged object within an image based on the image shot by a monocular camera, the apparatus comprising:
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a learning base storing unit that creates and stores a learning base commonly extracted from a plurality of background images without the image object; a discriminating-pattern storing unit that learns and stores specific patterns of an object in advance; an object detecting unit that compares the learning base and an actual input background image, and detects a residual based on the learning base and the actual input background image as a potential object; and an object discriminating unit that compares the potential object with the specific patterns present in the discriminating-pattern storing unit, and discriminates whether the potential object is a specific object, wherein the object detecting unit detects the object as a salient feature that is not found in a learning base commonly extracted from a plurality of background images without the object.
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10. A warning apparatus operating with an object discriminating device for discriminating an imaged object within an image based on shot image, the warning apparatus comprising:
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a warning unit that outputs a warning in accordance with a discrimination result obtained by the object discriminating device, wherein the object discriminating device includes a learning base storing unit that creates and stores therein a learning base commonly extracted from a plurality of background images without the image object, a discriminating-pattern storing unit that learns and stores therein specific patterns of an object in advance, an object detecting unit that compares the learning base and an actual input background image, and detects a residual based on the learning base and the actual input background image as a potential object, and an object discriminating unit that compares the potential object with the specific patterns present in the discriminating-pattern storing unit, and discriminates whether the potential object is a specific object.
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11. A vehicle-controlling apparatus installed on a vehicle and operating with an object discriminating device for discriminating an imaged object within an image based on shot image, the vehicle-controlling apparatus comprising:
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a controlling unit that controls driving of the vehicle in accordance with a discrimination result obtained by the object discriminating device, wherein the object discriminating device includes a learning base storing unit that creates and stores a learning base commonly extracted from a plurality of background images without the image object, a discriminating-pattern storing unit that learns and stores specific patterns of an object in advance, an object detecting unit that compares the learning base and an actual input background image, and detects a residual based on the learning base and the actual input background image as a potential object, and an object discriminating unit that compares the potential object with the specific patterns present in the discriminating-pattern storing unit, and discriminates whether the potential object is a specific object and the object detecting unit detects the object as a salient feature that is not found in a learning base commonly extracted from a plurality of background images without the object.
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12. A method of discriminating an imaged object within an image based on the image shot by a monocular camera, the method comprising:
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detecting an object in the image by applying a saliency calculation to the image, with a processor; and applying a neural network method in the processor to the to detected object to discriminate whether the object is a potential obstacle, wherein the detecting includes detecting the object as a salient feature that is not found in a learning base commonly extracted from a plurality of background images without the object.
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13. A method of discriminating an imaged object within an image shot by a monocular camera, the method comprising:
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creating and storing in a memory device a learning base commonly extracted from a plurality of background images without the image object; learning and storing specific patterns of an object in advance; comparing the learning base and an actual input background image with a processor; detecting in the processor a residual based on the learning base and the actual input background image as a potential object; and discriminating whether the potential object is a specific object by comparing the potential object with the specific patterns stored in advance at the storing, wherein the detecting includes detecting the object as a salient feature that is not found in a learning base commonly extracted from a plurality of background images without the object.
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14. A non-transitory computer-readable recording medium that stores therein a computer program that causes a computer to execute a method of discriminating an object within an image based on the image shot by a monocular camera, the computer program causing the computer to execute:
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detecting an object in the image by applying a saliency calculation to the image; and applying a neural network method to detected object to discriminate whether the object is a potential obstacle, wherein the detecting includes detecting the object as a salient feature that is not found in a learning base commonly extracted from a plurality of background images without the object.
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15. A computer program stored on a non-transitory computer-readable recording medium that stores therein a computer program that causes a computer to execute a method of discriminating an object within an image shot by a monocular camera, the computer program causing the computer to execute:
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creating and storing a learning base commonly extracted from a plurality of background images without the image object; learning and storing specific patterns of an object in advance; comparing the learning base and an actual input background image; detecting a residual based on the learning base and the actual input background image as a potential object; and discriminating whether the potential object is a specific object by comparing the potential object with the specific patterns stored in advance at the storing, wherein the detecting includes detecting the object as a salient feature that is not found in a learning base commonly extracted from a plurality of background images without the object.
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Specification