Vehicle periphery monitoring device, vehicle, vehicle periphery monitoring program, and vehicle periphery monitoring method
First Claim
1. A vehicle periphery monitoring device which monitors a periphery of a vehicle on the basis of acquired images by a camera mounted on the vehicle and acquiring images of the periphery of the vehicle, comprising:
- a distance detecting unit which detects a distance between the camera and an object;
an object image extracting unit which extracts a first image portion of the object from the acquired image by the camera;
a local processing region setting unit which sets, on the basis of an assumed value of a size of a pedestrian, and the distance between the object in real space corresponding to the first image portion and the camera detected by the distance detecting unit, a surrounding region of the first image portion including the first image portion as a local processing region,a filtering unit which performs only to the local processing region, on the basis of an assumed value of a width in a horizontal direction of the pedestrian, and the distance between the camera and the object in real space corresponding to the first image portion detected by the distance detecting unit, a filtering process to the acquired image with a Gabor filter, in which a target edge width is set to be narrower as the assumed value of the width is smaller and the distance is longer, and in which a target edge direction is set to a direction orthogonal to the horizontal direction; and
an object type identifying unit which identifies the type of the object in real space corresponding to the second image portion as a pedestrian, when a lower end of the second image portion extracted by the filtering process performed to the local processing region is included in a lower half region of the local processing region in the local processing region.
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Accused Products
Abstract
A vehicle periphery monitoring device comprising a distance detecting unit which detects the distance between cameras and an object, an object image extracting unit which extracts a first image portion of the object from the acquired image, a filtering unit which performs a filtering process to the acquired image, in which a target edge width is set to be narrower as the assumed value of the width is smaller and the distance is longer, and in which a target edge direction is set to a direction orthogonal to the predetermined direction, and an object type identifying unit which identifies, on the basis of a shape of a second image portion extracted by the filtering process, whether or not the type of the object in real space corresponding to the second image portion is the specific type.
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Citations
2 Claims
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1. A vehicle periphery monitoring device which monitors a periphery of a vehicle on the basis of acquired images by a camera mounted on the vehicle and acquiring images of the periphery of the vehicle, comprising:
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a distance detecting unit which detects a distance between the camera and an object; an object image extracting unit which extracts a first image portion of the object from the acquired image by the camera; a local processing region setting unit which sets, on the basis of an assumed value of a size of a pedestrian, and the distance between the object in real space corresponding to the first image portion and the camera detected by the distance detecting unit, a surrounding region of the first image portion including the first image portion as a local processing region, a filtering unit which performs only to the local processing region, on the basis of an assumed value of a width in a horizontal direction of the pedestrian, and the distance between the camera and the object in real space corresponding to the first image portion detected by the distance detecting unit, a filtering process to the acquired image with a Gabor filter, in which a target edge width is set to be narrower as the assumed value of the width is smaller and the distance is longer, and in which a target edge direction is set to a direction orthogonal to the horizontal direction; and an object type identifying unit which identifies the type of the object in real space corresponding to the second image portion as a pedestrian, when a lower end of the second image portion extracted by the filtering process performed to the local processing region is included in a lower half region of the local processing region in the local processing region. - View Dependent Claims (2)
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Specification