Vehicle periphery monitoring apparatus

• US 8,648,912 B2
• Filed: 10/08/2009
• Issued: 02/11/2014
• Est. Priority Date: 10/20/2008
• Status: Expired due to Fees

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Matsuda, Kodai, Aimura, Makoto, Takatsudo, Izumi
• Primary Examiner(s): Kelley, Christopher S
• Assistant Examiner(s): Zhou, Zhihan
• Application Number:
  US13/123,997
• Publication Number:
  US 20110234804A1
• Time in Patent Office: 1,587 Days
• Field of Search: 348/148, 348/143, 348/149, 348/153, 382/104, 382/190, 382/194, 382/195, 382/199, 382/203, 382/209, 382/214, 382/217, 382/219, 382/220, 382/228, 701/1, 701/29.6, 701/36, 701/41
• US Class Current: 348/148
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/24 in front of the vehicle
• CPC Class Codes: B60R 1/30 providing vision in the non-visible spectrum, e.g. night or infrared vision
• CPC Class Codes: B60R 2300/205 using a head-up display
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/308 by overlaying the real scene, e.g. through a head-up display on the windscreen
• CPC Class Codes: B60R 2300/70 characterised by an event-triggered choice to display a specific image among a selection of captured images
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: G06V 10/143 Sensing or illuminating at different wavelengths
• 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

Bicycles present before a vehicle are identified. A picked-up image having intensity values that are in accordance with the temperatures of objects is acquired to extract image regions having intensity values representative of higher temperatures than a background. An object, which includes a pair of first object portions (legs) and a second object portion (a tire), would be identified as a bicycle if the pair of first object portions, which have greater dimensions in length in the vertical direction than in width in the horizontal direction and the distance between which is less than a predetermined value in the horizontal direction, are detected from the extracted image regions and further if the second object portion, which has a different intensity value from any one of the first object portions and also has a length greater than a predetermined value in the vertical direction, is existent between the pair of first object portions.

Claims

1. A vehicle periphery monitoring apparatus, mounted on a vehicle, for recognizing a bicycle operated by a driver around the vehicle, comprising:

an image capturing mechanism which captures an image around the vehicle to obtain a captured image having luminance values according to temperatures of an object;

an extracting mechanism which extracts, from the captured image, an image region having luminance values indicating temperatures greater than a temperature of a background by a predetermined value;

a bicycle determination mechanism configured to;

determine whether a pair of first object portions each having a length in the vertical direction greater than a width in the horizontal direction is detected from the extracted image region;

determine, if the pair of first object portions is detected, whether a distance between one of the first object portion and the other of the first object portion being less than a predetermined value;

determine, if the distance is less than the predetermined value, whether a second object portion having luminance values different from the first object portions and having a length in the vertical direction greater than a predetermined value exists between the pair of the first object portion is detected from the extracted image region; and

determine, if the second object portion is detected, an object including the pair of the first object portions and the second object portion as a bicycle.

2. The vehicle periphery monitoring apparatus of claim 1,

wherein the bicycle determination mechanism determines the object including the pair of the first object portions and the second object portion as a bicycle if the second object portion has luminance values indicating temperatures lower than the temperature of the background.

3. The vehicle periphery monitoring apparatus of claim 1,

wherein the bicycle determination mechanism determines the object as a bicycle if it is detected that a position of a lowest point of the second object portion is lower than a position of a lowest point of the pair of the first object portions in the vertical direction.

4. The vehicle periphery monitoring apparatus of claim 1,

wherein the bicycle determination mechanism determines the object as a bicycle if an image region having an area greater than a predetermined value and having a uniform luminance is detected in a neighborhood of a lowest point of the second object portion.

5. The vehicle periphery monitoring apparatus of claim 2,

wherein the bicycle determination mechanism determines the object as a bicycle if it is detected that a position of a lowest point of the second object portion is lower than a position of a lowest point of the pair of the first object portions in the vertical direction.

6. The vehicle periphery monitoring apparatus of claim 2,

wherein the bicycle determination mechanism determines the object as a bicycle if an image region having an area greater than a predetermined value and having a uniform luminance is detected in a neighborhood of a lowest point of the second object portion.

7. The vehicle periphery monitoring apparatus of claim 3,

wherein the bicycle determination mechanism determines the object as a bicycle if an image region having an area greater than a predetermined value and having a uniform luminance is detected in a neighborhood of a lowest point of the second object portion.

8. The vehicle periphery monitoring apparatus of claim 5,

wherein the bicycle determination mechanism determines the object as a bicycle if an image region having an area greater than a predetermined value and having a uniform luminance is detected in a neighborhood of a lowest point of the second object portion.

9. The vehicle periphery monitoring apparatus of claim 1, wherein the presence of the first and the second object portions are determined on the basis of sizes of each part of the object measured along the horizontal and the vertical directions in the captured image.

10. A vehicle periphery monitoring method for recognizing a bicycle operated by a driver around the vehicle, comprising:

capturing an image around the vehicle with an image capturing mechanism to obtain a captured image having luminance values according to temperatures of an object;

extracting, from the captured image using an extracting mechanism, an image region having luminance values indicating temperatures greater than a temperature of a background by a predetermined value;

detecting a pair of first object portions each having a length in the vertical direction greater than a width in the horizontal direction in the extracted image region;

subsequent to the detecting of the pair of first object portions, detecting a distance between one of the first object portion and the other of the first object portion to be less than a predetermined value;

subsequent to detecting that the distance is less than the predetermined value, detecting a second object portion having luminance values different from the first object portions and having a length in the vertical direction greater than a predetermined value between the pair of the first object portion; and

subsequent to detecting the second object portion, determining the object including the pair of the first object portions and the second object portion to be a bicycle.

11. The vehicle periphery monitoring method of claim 10, further comprising:

determining that the second object portion has luminance values indicating temperatures lower than the temperature of the background.

12. The vehicle periphery monitoring method of claim 10, further comprising:

determining that a position of a lowest point of the second object portion is lower than a position of a lowest point of the pair of the first object portions in the vertical direction.

13. The vehicle periphery monitoring method of claim 10, further comprising:

determining the image region to have an area greater than a predetermined value and detecting a uniform luminance in a neighborhood of a lowest point of the second object portion.

14. The vehicle periphery monitoring method of claim 11, further comprising:

determining that a position of a lowest point of the second object portion is lower than a position of a lowest point of the pair of the first object portions in the vertical direction.

15. The vehicle periphery monitoring method of claim 11, further comprising:

determining the image region to have an area greater than a predetermined value and detecting a uniform luminance in a neighborhood of a lowest point of the second object portion.

16. The vehicle periphery monitoring method of claim 12, further comprising:

determining the image region to have an area greater than a predetermined value and detecting a uniform luminance in a neighborhood of a lowest point of the second object portion.

17. The vehicle periphery monitoring method of claim 14, further comprising:

determining the image region to have an area greater than a predetermined value and detecting a uniform luminance in a neighborhood of a lowest point of the second object portion.

18. The vehicle periphery monitoring method of claim 10, wherein the presence of the first and the second object portions are detected on the basis of sizes of each part of the object measured along the horizontal and the vertical directions in the captured image.