Image analysis apparatus mounted to vehicle
First Claim
1. An image analysis apparatus mounted to a vehicle, comprising:
- a camera that picks up an image of a region ahead of a vehicle and generates image data that indicates a picked-up image of the region;
means for analyzing the image data generated by the camera and learning a position of a focus of expansion;
means for detecting a speed of the vehicle;
first means for determining whether or not a state where the speed of the vehicle detected by the detecting means exceeds a reference speed has continued for a predetermined duration of time; and
means for allowing the analyzing means to start a performance of learning a position of the focus of expansion, when the first determining means determines that the state where the speed of the vehicle exceeds the reference speed has continued for the predetermined duration of time.
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Abstract
An image analysis apparatus picks up an image of a region ahead of a vehicle using a camera, and allows a control unit to analyze picked-up image data generated by the camera to learn a focus-of-expansion position. The control unit controls the learning performance as follows. Specifically, the control unit does not start the learning performance for the focus-of-expansion position until a state where a detection value of a vehicle speed exceeds a reference speed exceeds a specified duration of time. When the state where a detection value of a vehicle speed exceeds a reference speed exceeds the specified duration of time, the learning performance for the focus-of-expansion position is started from this time point. The specified duration of time may be determined on the basis of statistics on the durations of simulated runs of the vehicle performed on a chassis dynamometer in a vehicle inspection.
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Citations
11 Claims
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1. An image analysis apparatus mounted to a vehicle, comprising:
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a camera that picks up an image of a region ahead of a vehicle and generates image data that indicates a picked-up image of the region; means for analyzing the image data generated by the camera and learning a position of a focus of expansion; means for detecting a speed of the vehicle; first means for determining whether or not a state where the speed of the vehicle detected by the detecting means exceeds a reference speed has continued for a predetermined duration of time; and means for allowing the analyzing means to start a performance of learning a position of the focus of expansion, when the first determining means determines that the state where the speed of the vehicle exceeds the reference speed has continued for the predetermined duration of time. - View Dependent Claims (2, 3, 4, 6, 7, 8)
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5. An image analysis method, comprising:
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picking up an image of a region ahead of a vehicle to generate image data that indicates a picked-up image of the region; analyzing the generated image data to learn a position of a focus of expansion; detecting a speed of the vehicle; determining whether or not a state where a detected speed of the vehicle exceeds a reference speed has continued for a predetermined duration of time; and starting a performance of learning a position of the focus of expansion when a state where the speed of the vehicle exceeds the reference speed is determined to have continued for the predetermined duration of time. - View Dependent Claims (9, 10, 11)
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Specification