Movement amount estimation device, movement amount estimation method, and computer-readable recording medium storing movement amount estimation program
First Claim
1. A movement amount estimation device, comprising:
- at least one processor; and
at least one memory which stores a plurality of instructions, which when executed by the at least one processor, cause the at least one processor to execute;
generating a first edge removed image by removing a first removal target edge based on a change in brightness indicated by edge intensity in one direction from an inner side to an outer side of a mobile body from a first edge image, the first edge image being generated from a first image taken by an imaging device mounted on the mobile body;
generating a second edge-removed image by removing a second removal target edge based on the change in brightness indicated by the edge intensity in the direction from the inner side to the outer side of the mobile body from a second edge image, the second edge image being generated from a second image taken at a different clock time than the first image; and
outputting a movement amount of the mobile body that is estimated based on the first edge-removed image and the second edge-removed image.
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Abstract
A movement-amount-estimation device includes an edge-removal unit to generate a first edge-removed image by removing from a first edge-image a first-removal-target edge by on a change in brightness indicated by edge intensity in a direction from an inner side to an outer side of a mobile body, the first edge-image being generated from a first image taken by an imaging device mounted on the mobile body, and to generate a second-edge-removed image by removing from a second edge-image a second-removal-target edge by the change in brightness indicated by the edge intensity in the direction from the inner side to the outer side, the second edge-image being generated from a second image taken at a different clock time than the first image; and an output unit configured to output a movement amount of the mobile body that is estimated based on the first edge-removed image and the second edge-removed image.
15 Citations
15 Claims
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1. A movement amount estimation device, comprising:
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at least one processor; and at least one memory which stores a plurality of instructions, which when executed by the at least one processor, cause the at least one processor to execute; generating a first edge removed image by removing a first removal target edge based on a change in brightness indicated by edge intensity in one direction from an inner side to an outer side of a mobile body from a first edge image, the first edge image being generated from a first image taken by an imaging device mounted on the mobile body; generating a second edge-removed image by removing a second removal target edge based on the change in brightness indicated by the edge intensity in the direction from the inner side to the outer side of the mobile body from a second edge image, the second edge image being generated from a second image taken at a different clock time than the first image; and outputting a movement amount of the mobile body that is estimated based on the first edge-removed image and the second edge-removed image. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A movement amount estimation method to be performed by a Computer, the method comprising:
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generating a first edge-removed image by removing first removal target edges based on a change in brightness indicated by edge intensity in one direction from the inner side to the outer side of a mobile body in a first edge image, the first edge image being generated from a first image taken by an imaging device mounted on the mobile body; generating a second edge-removed image by removing second remove target edges based on the change in brightness indicated by the edge intensity in the direction from the inner side to the outer side in a second edge image, the second edge image being generated from a second image taken at a different clock time from the first image; and outputting a movement amount of the mobile body that is estimated based on the first edge-removed image and the second edge-removed image. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory computer-readable recording medium storing a movement amount estimation program for causing an information processing apparatus to execute a procedure, the procedure comprising:
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generating a first edge-removed image by removing first removal target edges based on a change in brightness indicated by edge intensity in one direction from the inner side to the outer side of a mobile body in a first edge image that is generated from a first image taken by an imaging device mounted on the mobile body; generating a second edge-removed image by removing second removal target edges based on the change in brightness indicated by the edge intensity in the direction from the inner side to the outer side of the mobile body in a second edge image that is generated from a second image taken at a different clock time from the first image; and outputting a movement amount of the mobile body that is estimated based on the first edge-removed image and the second edge-removed image.
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Specification