Image processing device, image processing method, and program
First Claim
1. An image processing device, comprising:
- at least one processor configured to;
receive captured image data of a portion of parking stalls that are compartmented at least by a first side line extending in a first direction and a second side line extending in the first direction;
generate edge image data by performing an edge extraction process on the captured image data, wherein, for performing the edge extraction process, the at least one processor is configured to;
generate edge intensity image data by performing an edge extraction process on the captured image data;
generate edge image data by performing a quantization process on the edge intensity image data;
regard edge pixel regions having connectivity in the edge image data as a same region;
perform a process of giving the same label number to edge pixels of a same region;
generate labeled image data;
perform a process of giving a circumscribed rectangle to the edge pixel regions to which the same label number is given based on the labeled image data;
generate a rectangular object;
perform a process on the edge image data to remove an edge pixel region having a small number of connected pixels and an edge pixel region in a rectangular object having short vertical and horizontal widths as noise based on the labeled image data and the rectangular object; and
generate output edge image data;
obtain an integrated value of edge pixels of a portion of the first direction corresponding to the parking stalls in each position of a second direction that is orthogonal to the first direction based on the edge image data; and
determine whether or not vehicles are parked in the parking stalls based on the obtained integrated value of each position of the second direction.
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Accused Products
Abstract
There is provided an image processing device including an image input unit configured to input captured image data of a portion of parking stalls that are compartmented at least by a first side line extending in a first direction and a second side line extending in the first direction, an image processing unit configured to generate edge image data by performing an edge extraction process on the captured image data, and a parking determination unit configured to obtain an integrated value of edge pixels of the first direction portion corresponding to the parking stalls in each position of a second direction that is orthogonal to the first direction based on the edge image data, and then to determine whether or not vehicles are parked in the parking stalls based on the obtained integrated value of each position of the second direction.
11 Citations
11 Claims
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1. An image processing device, comprising:
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at least one processor configured to; receive captured image data of a portion of parking stalls that are compartmented at least by a first side line extending in a first direction and a second side line extending in the first direction; generate edge image data by performing an edge extraction process on the captured image data, wherein, for performing the edge extraction process, the at least one processor is configured to; generate edge intensity image data by performing an edge extraction process on the captured image data; generate edge image data by performing a quantization process on the edge intensity image data; regard edge pixel regions having connectivity in the edge image data as a same region; perform a process of giving the same label number to edge pixels of a same region; generate labeled image data; perform a process of giving a circumscribed rectangle to the edge pixel regions to which the same label number is given based on the labeled image data; generate a rectangular object; perform a process on the edge image data to remove an edge pixel region having a small number of connected pixels and an edge pixel region in a rectangular object having short vertical and horizontal widths as noise based on the labeled image data and the rectangular object; and generate output edge image data; obtain an integrated value of edge pixels of a portion of the first direction corresponding to the parking stalls in each position of a second direction that is orthogonal to the first direction based on the edge image data; and determine whether or not vehicles are parked in the parking stalls based on the obtained integrated value of each position of the second direction. - View Dependent Claims (2, 3, 4, 5)
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6. An image processing device for operation with a parking lane that has a dual lane structure of a front lane and a rear lane, comprising:
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at least one processor configured to; receive captured image data of a portion of parking stalls that are compartmented at least by a first side line extending in a first direction and a second side line extending in the first direction; generate edge image data by performing an edge extraction process on the captured image data; obtain an integrated value of edge pixels of a portion of the first direction corresponding to the parking stalls in each position of a second direction that is orthogonal to the first direction based on the edge image data; and determine whether or not vehicles are parked in the parking stalls based on the obtained integrated value of each position of the second direction; wherein, with regard to each of the parking stalls of the front lane, the at least one processor is configured to obtain the integrated value of edge pixels of the portion of the first direction corresponding to the parking stalls in each position of the second direction that is orthogonal to the first direction based on the edge image data, and to determine whether or not vehicles are parked in the parking stalls based on the obtained integrated value of each position, and wherein, with regard to each of the parking stalls of the rear lane, the at least one processor is configured to obtain, as a first integrated value, the integrated value of the edge pixels of the portion of the first direction corresponding to the parking stalls in each position of the second direction that is orthogonal to the first direction based on the edge image data, to obtain, as a second integrated value, the integrated value of edge pixels of a portion of a third direction that is orthogonal to both of the first direction and the second direction corresponding to the entrances of the parking stalls in each position of the second direction based on the edge image data, and to determine whether or not vehicles are parked in the parking stalls based on the obtained first and second integrated values of each position. - View Dependent Claims (7)
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8. An image processing method comprising:
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receiving captured image data of a portion of parking stalls that are compartmented at least by a first side line extending in a first direction and a second side line extending in the first direction; generating edge image data by performing an edge extraction process on the captured image data, the edge extraction process comprising; generating edge intensity image data by performing an edge extraction process on the captured image data; generating edge image data by performing a quantization process on the edge intensity image data; regarding edge pixel regions having connectivity in the edge image data as a same region; performing a process of giving the same label number to edge pixels of a same region; generating labeled image data; performing a process of giving a circumscribed rectangle to the edge pixel regions to which the same label number is given based on the labeled image data; generating a rectangular object; performing a process on the edge image data to remove an edge pixel region having a small number of connected pixels and an edge pixel region in a rectangular object having short vertical and horizontal widths as noise based on the labeled image data and the rectangular object; and generating output edge image data; obtaining an integrated value of edge pixels of a portion of the first direction corresponding to the parking stalls in each position of a second direction that is orthogonal to the first direction based on the edge image data; and determining whether or not vehicles are parked in the parking stalls based on the obtained integrated value of each position.
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9. A non-transitory computer-readable medium encoded with instructions that, when executed by a computer, cause the computer to:
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receive captured image data of a portion of parking stalls that are compartmented at least by a first side line extending in a first direction and a second side line extending in the first direction; generate edge image data by performing an edge extraction process on the captured image data, the edge extraction process comprising; generating edge intensity image data by performing an edge extraction process on the captured image data; generating edge image data by performing a quantization process on the edge intensity image data; regarding edge pixel regions having connectivity in the edge image data as a same region; performing a process of giving the same label number to edge pixels of a same region; generating labeled image data; performing a process of giving a circumscribed rectangle to the edge pixel regions to which the same label number is given based on the labeled image data; generating a rectangular object; performing a process on the edge image data to remove an edge pixel region having a small number of connected pixels and an edge pixel region in a rectangular object having short vertical and horizontal widths as noise based on the labeled image data and the rectangular object; and generating output edge image data; obtain an integrated value of edge pixels of a portion of the first direction corresponding to the parking stalls in each position of a second direction that is orthogonal to the first direction based on the edge image data; and determine whether or not vehicles are parked in the parking stalls based on the obtained integrated value of each position.
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10. An image processing method for use with a parking lane that has a dual lane structure of a front lane and a rear lane, comprising:
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receiving captured image data of a portion of parking stalls that are compartmented at least by a first side line extending in a first direction and a second side line extending in the first direction; generating edge image data by performing an edge extraction process on the captured image data; obtaining an integrated value of edge pixels of a portion of the first direction corresponding to the parking stalls in each position of a second direction that is orthogonal to the first direction based on the edge image data; and determining whether or not vehicles are parked in the parking stalls based on the obtained integrated value of each position; wherein, with regard to each of the parking stalls of the front lane, the integrated value of edge pixels of the portion of the first direction corresponding to the parking stalls in each position of the second direction that is orthogonal to the first direction is obtained based on the edge image data, and whether or not vehicles are parked in the parking stalls is determined based on the obtained integrated value of each position, and wherein, with regard to each of the parking stalls of the rear lane, as a first integrated value, the integrated value of the edge pixels of the portion of the first direction corresponding to the parking stalls in each position of the second direction that is orthogonal to the first direction is obtained based on the edge image data, as a second integrated value, the integrated value of edge pixels of a portion of a third direction that is orthogonal to both of the first direction and the second direction corresponding to the entrances of the parking stalls in each position of the second direction is obtained based on the edge image data, and whether or not vehicles are parked in the parking stalls is determined based on the obtained first and second integrated values of each position.
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11. A non-transitory computer-readable medium for use with a parking lane that has a dual lane structure of a front lane and a rear lane, the computer-readable medium being encoded with instructions that, when executed by a computer, cause the computer to:
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receive captured image data of a portion of parking stalls that are compartmented at least by a first side line extending in a first direction and a second side line extending in the first direction; generate edge image data by performing an edge extraction process on the captured image data; obtain an integrated value of edge pixels of a portion of the first direction corresponding to the parking stalls in each position of a second direction that is orthogonal to the first direction based on the edge image data; and determine whether or not vehicles are parked in the parking stalls based on the obtained integrated value of each position; wherein, with regard to each of the parking stalls of the front lane, the integrated value of edge pixels of the portion of the first direction corresponding to the parking stalls in each position of the second direction that is orthogonal to the first direction is obtained based on the edge image data, and whether or not vehicles are parked in the parking stalls is determined based on the obtained integrated value of each position, and wherein, with regard to each of the parking stalls of the rear lane, as a first integrated value, the integrated value of the edge pixels of the portion of the first direction corresponding to the parking stalls in each position of the second direction that is orthogonal to the first direction is obtained based on the edge image data, as a second integrated value, the integrated value of edge pixels of a portion of a third direction that is orthogonal to both of the first direction and the second direction corresponding to the entrances of the parking stalls in each position of the second direction is obtained based on the edge image data, and whether or not vehicles are parked in the parking stalls is determined based on the obtained first and second integrated values of each position.
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Specification