Object detection apparatus and storage medium
First Claim
1. An object detection apparatus, comprising:
- an image input unit including circuitry configured to receive an image;
an image feature quantity extraction unit configured to extract a predetermined image feature quantity from the image to generate a feature-quantity extraction image; and
a symmetry evaluation unit configured to set, for every processing target pixel in the feature-quantity extraction image, a symmetry evaluation area for evaluating symmetry in a first direction in the image in such a manner that the symmetry evaluation area is symmetrical with respect to a central axis that is a predetermined axis in a second direction orthogonal to the first direction, and calculates a weighted value resulting from weighting a value indicating a correlation value based on a distance of a group of pixels included in the symmetry evaluation area and located symmetrical with respect to the central axis from the central axis, the correlation value indicating a correlation between image feature quantities of the group of pixels, while varying a size of the symmetry evaluation area to obtain a symmetry evaluation value indicating a degree of the symmetry in the first directionso as to provide enhanced detection accuracy of a symmetrical object in the image.
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Abstract
Important information about an object is detected using less arithmetic processing. An object detection unit generates an edge image from a color image. The object detection unit evaluates symmetry of an image included in the edge image by performing processing in accordance with the position of a target pixel. The object detection unit identifies a symmetry center pixel forming an object having symmetry. The object detection unit detects an object width for each symmetry center pixel. The object detection unit identifies the width of the object in the vertical direction based on the width of the symmetry center pixels in the vertical direction, and identifies the width of the object in the horizontal direction based on the object width identified for each symmetry center pixel.
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Citations
17 Claims
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1. An object detection apparatus, comprising:
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an image input unit including circuitry configured to receive an image; an image feature quantity extraction unit configured to extract a predetermined image feature quantity from the image to generate a feature-quantity extraction image; and a symmetry evaluation unit configured to set, for every processing target pixel in the feature-quantity extraction image, a symmetry evaluation area for evaluating symmetry in a first direction in the image in such a manner that the symmetry evaluation area is symmetrical with respect to a central axis that is a predetermined axis in a second direction orthogonal to the first direction, and calculates a weighted value resulting from weighting a value indicating a correlation value based on a distance of a group of pixels included in the symmetry evaluation area and located symmetrical with respect to the central axis from the central axis, the correlation value indicating a correlation between image feature quantities of the group of pixels, while varying a size of the symmetry evaluation area to obtain a symmetry evaluation value indicating a degree of the symmetry in the first direction so as to provide enhanced detection accuracy of a symmetrical object in the image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory computer-readable storage medium having stored thereon a program enabling a computer to implement an object detection method comprising:
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an image input step of receiving an image; a feature quantity extraction step of extracting a predetermined image feature quantity from the image to generate a feature-quantity extraction image; and a symmetry evaluation step of setting, for every processing target pixel in the feature-quantity extraction image, a symmetry evaluation area for evaluating symmetry in a first direction in the image in such a manner that the symmetry evaluation area is symmetrical with respect to a central axis that is a predetermined axis in a second direction orthogonal to the first direction, and calculating a weighted value resulting from weighting a value indicating a correlation value based on a distance of a group of pixels included in the symmetry evaluation area and located symmetrical with respect to the central axis from the central axis, the correlation value indicating a correlation between image feature quantities of the group of pixels, while varying a size of the symmetry evaluation area to obtain a symmetry evaluation value indicating a degree of the symmetry in the first direction, wherein the receiving, extracting and setting being implemented using circuitry in the computer.
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Specification