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Moving object detecting device and mobile robot

  • US 8,218,816 B2
  • Filed: 08/22/2008
  • Issued: 07/10/2012
  • Est. Priority Date: 08/24/2007
  • Status: Active Grant
First Claim
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1. A moving object detecting device comprising:

  • a stereo camera apparatus that takes a set of images of an object and determines a parallax between the object and the stereo camera apparatus;

    a range sensor that scans the object and utilizes the parallax to measure a distance from the device to an object;

    an image processing component that performs an image processing on the images captured by the stereo camera apparatus to extract a tracking target, which is a moving object to be tracked, from the image and to estimate a distance and a direction from the device to the tracking target based on the image;

    a congestion degree measuring component that sets a congestion degree measuring region around a moving object estimated point where a moving object is previously detected and measures a congestion degree represented by a ratio C of the number of detection points detected by the range sensor in the congestion degree measuring region to a total number of scanning lines of the range sensor passing through within the congestion degree measuring region; and

    a calculation component that obtains a fusion estimation result by performing a calculation using (a) a first moving object tracking result obtained by an output from the range sensor, (b) a second moving object tracking result obtained by the image processing by the image processing component, and (c) a fusion ratio W1 that is represented by the following expression (1) where α

    , β

    , and n are arbitrary constants;

    (1) W1

    Cn

    .

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