Image processing apparatus and image processing method

• US 7,899,212 B2
• Filed: 08/24/2007
• Issued: 03/01/2011
• Est. Priority Date: 08/25/2006
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Shimoyama, Kenichi
• Primary Examiner(s): Tabatabai; Abolfazl
• Application Number:
  US11/892,637
• Publication Number:
  US 20080049978A1
• Time in Patent Office: 1,285 Days
• Field of Search: 382/103, 382/104, 348/14.1, 348/148, 348/149, 348/154, 348/155, 348/208.1, 348/208.4, 348/208.13, 348/352, 348/407.1, 340/435, 340/436, 340/903, 340/907, 340/937, 340/986, 701/28, 701/96
• US Class Current: 382/104
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/73 using feature-based methods
• 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

Abstract

An image processing apparatus calculates a corresponding area on input images corresponding to a focused area on a real space in which a moving object moves, generates first images by scanning the input images along a horizontal line through the corresponding area, generates two-dimensional dynamic x-t images by arranging the first images in the vertical direction in time series, extracts characteristic points on the dynamic x-t image at a time T, generates dynamic trajectory information between the characteristic point at the time T and another characteristic point at different time from the time T near the characteristic point, and determines that the characteristic point belongs to the obstacle when the dynamic trajectory information satisfies the criterion for the obstacle.

Claims

1. An image processing apparatus for detecting an obstacle existing in front area of a moving object comprising:

an image input unit configured to pick up input images of the front area of the moving object and input the input images;

a corresponding position calculating unit configured to calculate a corresponding area on the input images corresponding to a focused area in a real space in which the moving object moves;

an image generating unit configured to generate first images by scanning the input images along a horizontal line through the corresponding area and generate two-dimensional second images by arranging the first images in the vertical direction in time series;

a characteristic extracting unit configured to extract characteristic points of a given time on the second image;

a trajectory information generating unit configured to generate trajectory information between the characteristic point at the given time and another characteristic point at different time from the given time near the characteristic point on the second image; and

an obstacle detecting unit configured to determine the characteristic point to belong to the obstacle when the trajectory information satisfies a criterion for the obstacle.

2. The apparatus according to claim 1, wherein the obstacle detecting unit determines the characteristic point to belong to the obstacle when the trajectory information extends toward the center of the second image in the lateral direction or parallel in the vertical direction.

3. The apparatus according to claim 1, wherein the obstacle detecting unit comprises:

a moving information calculating unit configured to calculate a position and a moving direction of the moving object from data of a sensor attached to the moving object;

a criterion calculating unit configured to calculate the criterion from the moving direction;

a dynamic trajectory velocity calculating unit configured to calculate a dynamic trajectory velocity of the characteristic point on the second image from the trajectory information; and

an obstacle determining unit configured to determine that the characteristic point belongs to the obstacle when the dynamic trajectory velocity satisfies the criterion.

4. The apparatus according to claim 3, wherein the obstacle detecting unit determines that the characteristic point belongs to the obstacle based on a horizontal component of the dynamic trajectory velocity on the second image when the movement of the characteristic point is (A) standstill, (B) toward the moving direction, or (C) toward an extension in the moving direction.

5. An image processing method for detecting an obstacle existing in front area of a moving object comprising:

picking up input images of a front area of the moving object and inputting the input image;

calculating a corresponding area on the input images corresponding to a focused area in a real space in which the moving object moves;

generating first images by scanning the input images along a the horizontal line through the corresponding area and generating a two-dimensional second image by arranging the first images in the vertical direction in time series;

extracting characteristic points of a given time on the second image;

generating trajectory information between the characteristic point at the given time and another characteristic point at different time from the given time near the characteristic point on the second image; and

determining the characteristic point to belong to the obstacle when the trajectory information satisfies a criterion for the obstacle.

6. The method according to claim 5, wherein the characteristic point is determined to belong to the obstacle when the trajectory information extends toward the center of the second image in the lateral direction or parallel in the vertical direction.

7. The method according to claim 5, wherein determining the obstacle comprises:

calculating a position and a moving direction of the moving object from data of a sensor attached to the moving object;

calculating the criterion from the moving direction;

calculating a dynamic trajectory velocity of the characteristic point on the second image from the trajectory information; and

determining that the characteristic point belongs to the obstacle when the dynamic trajectory velocity satisfies the criterion.

8. The method according to claim 7, wherein the characteristic point is determined to belong to the obstacle based on a horizontal component of the dynamic trajectory velocity on the second image when the movement of the characteristic point is (A) standstill, (B) toward the moving direction, or (C) toward an extension in the moving direction.