Mobile detector, mobile detecting program, and mobile detecting method
First Claim
1. A mobile detector, comprising:
- a virtual plane image generating device which generates, on an assumption that each pixel of an input image obtained by an imaging device on a mobile corresponds to each point on a virtual plane on a real world parallel to a traveling direction of the mobile, a virtual plane image by converting the input image to an image viewed from a direction perpendicular to the virtual plane; and
a mobile detecting device which relates each of points on two virtual plane images which are generated at two different times, obtains a shift amount between corresponding points, and detects a detection object mobile based on an arrangement of the points having the same shift amount,wherein the mobile detecting device determines a presence of the detection object mobile when the number of points having the same shift amount in a partial area of the virtual plane image is equal to or more than a predetermined threshold value.
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Abstract
When a mobile is detected using an imaging device installed in the mobile, the image of a partial area is enlarged/reduced depending on variation in distance to the detection object mobile and then it is compared under a fixed scale thus causing increase in computation cost. In order to eliminate the need for an enlargement/reduction processing or a deformation correction processing every time when collation is performed, an input image is converted into a virtual plane image having a size or a shape on the image of a detection object mobile which does not vary depending on the distance between the mobiles. Using a pair of virtual plane images obtained at two different times, points are made to correspond and the mobile is detected based on the gap of corresponding points.
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Citations
15 Claims
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1. A mobile detector, comprising:
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a virtual plane image generating device which generates, on an assumption that each pixel of an input image obtained by an imaging device on a mobile corresponds to each point on a virtual plane on a real world parallel to a traveling direction of the mobile, a virtual plane image by converting the input image to an image viewed from a direction perpendicular to the virtual plane; and a mobile detecting device which relates each of points on two virtual plane images which are generated at two different times, obtains a shift amount between corresponding points, and detects a detection object mobile based on an arrangement of the points having the same shift amount, wherein the mobile detecting device determines a presence of the detection object mobile when the number of points having the same shift amount in a partial area of the virtual plane image is equal to or more than a predetermined threshold value. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A non-transitory computer readable recording medium storing a mobile detecting program causing a computer connected to an imaging device installed on a mobile to execute:
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a virtual plane image generating function for generating, on an assumption that each pixel of an input image obtained by an imaging device corresponds to each point on a virtual plane on a real world parallel to a traveling direction of the mobile, a virtual plane image by converting the input image to an image viewed from a direction perpendicular to the virtual plane; and a mobile detecting function for relating each of points on two virtual plane images which are generated at two different times, obtaining a shift amount between corresponding points, and detecting the detection object mobile based on an arrangement of the points having the same shift amount, wherein the presence of the detection object mobile is determined by the mobile detecting function, when the number of points having the same shift amount in a partial area of the virtual plane image is equal to or more than a predetermined threshold value. - View Dependent Claims (8, 9, 10)
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11. A mobile detecting method, comprising:
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taking in an image at every predetermined cycle by an imaging device installed on a mobile; generating, on an assumption that each pixel of an input image obtained by an imaging device on a mobile corresponds to each point on a virtual plane on a real world parallel to a traveling direction of the mobile, a virtual plane image by converting the input image to an image viewed from a direction perpendicular to the virtual plane; relating the points on the virtual plane image generated immediately before to the points on the virtual plane image generated currently to obtain a shift amount between corresponding points; detecting the detection object mobile based on an arrangement of the points having the same shift amount; determining the presence of the detection object mobile when the number of points having the same shift amount in a partial area on the virtual plane image is equal to or more than a predetermined threshold value. - View Dependent Claims (12, 13, 14)
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15. A mobile detector, comprising:
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virtual plane image generating means for generating, on an assumption that each pixel of an input image obtained by an imaging device on a mobile corresponds to each point on a virtual plane on a real world parallel to a traveling direction of the mobile, a virtual plane image by converting the input image to an image viewed from a direction perpendicular to the virtual plane; and mobile detecting means for relating each of points on two virtual plane images which are generated at two different times, obtaining a shift amount between corresponding points, and detecting a detection object mobile based on an arrangement of the points having the same shift amount, wherein the mobile detecting means determines a presence of the detection object mobile when the number of points having the same shift amount in a partial area of the virtual plane image is equal to or more than a predetermined threshold value.
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Specification