Three-dimensional object detection device
First Claim
1. A three-dimensional object detection device comprising:
- an image capturing unit arranged to capture images of a predetermined detection area rearward of a host vehicle equipped with the three-dimensional object detection device;
an image conversion unit programmed to convert a viewpoint of the images obtained by the image capturing unit to create bird'"'"'s-eye view images;
a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object within the predetermined detection area in which the bird'"'"'s-eye view images obtained at different times by the image conversion unit are aligned, and difference waveform information is generated by counting and creating a frequency distribution of a number of pixels that indicate a predetermined difference in a difference image of the bird'"'"'s-eye view images that were aligned to detect the presence of the three-dimensional object within the predetermined detection area;
a movement speed calculation unit programmed to calculate a movement speed of the three-dimensional object based on the difference waveform information;
a three-dimensional object assessment unit programmed to assess whether the three-dimensional object detected by the three-dimensional object detection unit is another vehicle present in the predetermined detection area based on the difference waveform information;
a non-detection-object assessment unit programmed to repeatedly calculate an amount of change in time of the movement speed of the three-dimensional object to thereby detect an amount of variability in the movement speed of the three-dimensional object, and to determine that the three-dimensional object has a greater possibility of being a non-detection object that is different from the another vehicle as the amount of variability becomes higher; and
a control unit programmed to inhibit the three-dimensional object assessment unit from assessing that the three-dimensional object is the another vehicle based on an assessment results of the non-detection-object assessment unit.
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Accused Products
Abstract
A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a movement speed calculation unit, a three-dimensional object assessment unit, a non-detection-object assessment unit and a control unit. The image conversion unit converts a viewpoint of the images to create bird'"'"'s-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within the predetermined detection area based on difference waveform information. The movement speed calculation unit calculates a movement speed of the three-dimensional object. The non-detection-object assessment unit detect san amount of variability in the movement speed of the three-dimensional object, and assesses whether the three-dimensional object is a non-detection object based on the amount of variability. The control unit inhibits the three-dimensional object assessment unit from assessing that the three-dimensional object is the another vehicle based on the assessment results.
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Citations
15 Claims
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1. A three-dimensional object detection device comprising:
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an image capturing unit arranged to capture images of a predetermined detection area rearward of a host vehicle equipped with the three-dimensional object detection device; an image conversion unit programmed to convert a viewpoint of the images obtained by the image capturing unit to create bird'"'"'s-eye view images; a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object within the predetermined detection area in which the bird'"'"'s-eye view images obtained at different times by the image conversion unit are aligned, and difference waveform information is generated by counting and creating a frequency distribution of a number of pixels that indicate a predetermined difference in a difference image of the bird'"'"'s-eye view images that were aligned to detect the presence of the three-dimensional object within the predetermined detection area; a movement speed calculation unit programmed to calculate a movement speed of the three-dimensional object based on the difference waveform information; a three-dimensional object assessment unit programmed to assess whether the three-dimensional object detected by the three-dimensional object detection unit is another vehicle present in the predetermined detection area based on the difference waveform information; a non-detection-object assessment unit programmed to repeatedly calculate an amount of change in time of the movement speed of the three-dimensional object to thereby detect an amount of variability in the movement speed of the three-dimensional object, and to determine that the three-dimensional object has a greater possibility of being a non-detection object that is different from the another vehicle as the amount of variability becomes higher; and a control unit programmed to inhibit the three-dimensional object assessment unit from assessing that the three-dimensional object is the another vehicle based on an assessment results of the non-detection-object assessment unit. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A three-dimensional object detection device comprising:
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an image capturing unit arranged to capture an image of a predetermined detection area rearward of a host vehicle equipped with the three-dimensional object detection device; an image conversion unit programmed to convert a viewpoint of the image obtained by the image capturing unit to create a bird'"'"'s-eye view image; a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object within the predetermined detection area based on edge information from the bird'"'"'s-eye view image obtained from the image conversion unit; a movement speed calculation unit programmed to calculate a movement speed of the three-dimensional object based on the edge information; a three-dimensional object assessment unit programmed to assess whether the three-dimensional object detected by the three-dimensional object detection unit is another vehicle present in the predetermined detection area based on the edge information; a non-detection-object assessment unit programmed to repeatedly calculate an amount of change in time of the movement speed of the three-dimensional object to thereby detect an amount of variability in the movement speed of the three-dimensional object, and to determine that the three-dimensional object has a greater possibility of being a non-detection object that is different from the another vehicle as the amount of variability becomes higher; and a control unit programmed to inhibit the three-dimensional object assessment unit from assessing that the three-dimensional object is the another vehicle based on an assessment results of the non-detection-object assessment unit. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. A three-dimensional object detection device comprising:
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an image capturing unit arranged to capture an image of a predetermined detection area rearward of a host vehicle equipped with the three-dimensional object detection device; an image conversion unit programmed to convert a viewpoint of the image obtained by the image capturing unit to create a bird'"'"'s-eye view image; a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object based on a distribution information of pixels having a luminance difference of a predetermined threshold value or greater in a direction in which the three-dimensional object collapses when a conversion in viewpoint to a bird'"'"'s-eye view image is carried out on the bird'"'"'s-eye view image obtained from the image conversion unit; a movement speed calculation unit programmed to calculate a movement speed of the three-dimensional object based on an amount of change in time of the distribution information of pixels; a three-dimensional object assessment unit programmed to assess whether the three-dimensional object detected by the three-dimensional object detection unit is another vehicle present in the predetermined detection area based on the distribution information of pixels; a non-detection-object assessment unit programmed to repeatedly calculate an amount of change in time of the movement speed of the three-dimensional object to thereby detect an amount of variability in the movement speed of the three-dimensional object, and to determine that the three-dimensional object has a high possibility of being the another vehicle when the amount of variability is less than a predetermined value; and a control unit programmed to facilitate assessment by the three-dimensional object assessment unit that the three-dimensional object is the another vehicle when the possibility that the three-dimensional object is the another vehicle has been assessed to be high by the non-detection-object assessment unit.
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Specification