Apparatus and method for determining monitoring object region in image

• US 9,454,704 B2
• Filed: 02/11/2015
• Issued: 09/27/2016
• Est. Priority Date: 08/31/2012
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Baba, Kozo, Takahashi, Kunikazu
• Primary Examiner(s): Chu, Randolph I
• Application Number:
  US14/619,364
• Publication Number:
  US 20150154460A1
• Time in Patent Office: 594 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20068 Projection on vertical or horizontal image axis
• CPC Class Codes: G06T 2207/20216 Image averaging
• CPC Class Codes: G06T 2207/20224 Image subtraction
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/12 Edge-based segmentation
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/254 involving subtraction of images
• 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

An image processing apparatus includes a processor. The processor is configured to execute a process including creating an average image of difference images in moving picture data based on a difference between a first frame and a second frame adjacent to the first frame, the first frame and the second frame included in the moving picture data, calculating a sum total of luminance values arranged in a lateral direction of the average image for each point in a longitudinal direction of the average image, selecting a predetermined number of points that are higher in value of a secondary differential value of the sum total of luminance values, from among points located in a downward direction from a position of a vanishing point in the average image, and firstly specifying a point that is on a boundary between a hood and a road from among the predetermined number of selected points.

Claims

1. An image processing apparatus comprising:

a processor configured to execute a process including;

creating an average image of difference images in moving picture data based on a difference between a first frame and a second frame adjacent to the first frame, the first frame and the second frame included in the moving picture data;

calculating a sum total of luminance values arranged in a lateral direction of the average image for each point in a longitudinal direction of the average image;

selecting a predetermined number of points that are higher in value of a secondary differential value of the sum total of luminance values, from among points located in a downward direction from a position of a vanishing point in the average image, and

firstly specifying a point that is on a boundary between a hood and a road from among the predetermined number of selected points.

2. The image processing apparatus according to claim 1, wherein the process further comprising:

secondly specifying frames imaged in a case where a moving body travels rectilinearly, from among a plurality of frames in the moving picture data imaged by a camera mounted on the moving body, based on information concerning movement of the moving body;

extracting straight lines extending in a direction from left below toward right above in a left region of a screen and straight lines extending in a direction from right below toward left above in a right region of the screen,

detecting a vanishing point based on an intersection of the extracted straight lines; and

determining a monitoring object region based on the vanishing point detected by the detection unit and a point on a boundary between a hood and a road specified in the firstly specifying.

3. The image processing apparatus according to claim 2, wherein the process further comprising

calculating a distance to a body in the monitoring object region based on a point on a boundary between a hood and a road specified in the firstly specifying, the vanishing point detected in the detecting, angles of view in a horizontal direction and a vertical direction of the camera, an installation height of the camera, and resolution information of the camera.

4. An image processing method executed by a computer, comprising:

creating an average image of difference images in moving picture data based on a difference between a first frame and a second frame adjacent to the first frame, the first frame and the second frame included in the moving picture data;

calculating a sum total of luminance values arranged in a lateral direction of the average image for each point in a longitudinal direction of the average image;

selecting a predetermined number of points that are higher in value of a secondary differential value of the sum total of luminance values, from among points located in a downward direction from a position of a vanishing point in the average image, and

firstly specifying a point that is on a boundary between a hood and a road from among the predetermined number of selected points.

5. A non-transitory computer-readable recording medium storing an image processing program that causes a computer to execute a process comprising:

creating an average image of difference images in moving picture data based on a difference between a first frame and a second frame adjacent to the first frame, the first frame and the second frame included in the moving picture data;

calculating a sum total of luminance values arranged in a lateral direction of the average image for each point in a longitudinal direction of the average image;

selecting a predetermined number of points that are higher in value of a secondary differential value of the sum total of luminance values, from among points located in a downward direction from a position of a vanishing point in the average image, and

firstly specifying a point that is on a boundary between a hood and a road from among the predetermined number of selected points.