Detecting device, detecting method, and program
First Claim
Patent Images
1. A detecting method executed by a computer, comprising:
- acquiring two or more images captured in two or more imaging devices provided at different heights; and
detecting a rising portion of an identical object toward the imaging devices based on a difference between lengths of the identical object in a height direction in the two or more images;
wherein the two or more imaging devices are provided in a moving vehicle to capture images in a moving direction of the moving vehicle, andthe method further comprising;
determining whether the identical object is an obstacle based on a determination result as to whether the identical object has a rising portion;
estimating a height of the identical object based on distance to the identical object;
extracting, from the two or more images, an obstacle candidate as a candidate for the obstacle; and
determining the identical object having a rising portion higher than or equal to a predetermined height among the obstacle candidates to be the obstacle.
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Abstract
To detect a distant object that may become an obstacle to a traveling destination of a moving vehicle or the like more accurately than the conventional, there is provided a detecting device, a program used in the detecting device, and a detecting method using the detecting device, where the detecting device includes: an acquisition section for acquiring two or more images captured in two or more imaging devices provided at different heights; and a detection section for detecting a rising portion of an identical object toward the imaging devices based on a difference between the lengths of the identical object in the height direction in the two or more images.
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Citations
8 Claims
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1. A detecting method executed by a computer, comprising:
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acquiring two or more images captured in two or more imaging devices provided at different heights; and detecting a rising portion of an identical object toward the imaging devices based on a difference between lengths of the identical object in a height direction in the two or more images; wherein the two or more imaging devices are provided in a moving vehicle to capture images in a moving direction of the moving vehicle, and the method further comprising; determining whether the identical object is an obstacle based on a determination result as to whether the identical object has a rising portion; estimating a height of the identical object based on distance to the identical object; extracting, from the two or more images, an obstacle candidate as a candidate for the obstacle; and determining the identical object having a rising portion higher than or equal to a predetermined height among the obstacle candidates to be the obstacle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A detecting method executed by a computer, comprising:
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acquiring two or more images captured in two or more imaging devices provided at different heights; and detecting a rising portion of an identical object toward the imaging devices based on a difference between lengths of the identical object in a height direction in the two or more images; wherein the two or more imaging devices are provided in a moving vehicle to capture images in a moving direction of the moving vehicle, and the method further comprises; extracting, from the two or more images, an obstacle candidate as a candidate for an obstacle; calculating distance to an identical object corresponding to the obstacle candidate based on amounts of parallax of the two or more images; and determining whether the identical object is an obstacle; generating a plurality of template images obtained by reducing an image of the obstacle candidate included in one image of the two or more images at each of a plurality of magnification candidates; performing template matching using each of the plurality of template images on another image of the two or more images; calculating a matching score at a best matching position in the other image, and calculates a magnification giving a maximum matching score from among the plurality of magnification candidates; and on condition that the magnification giving the maximum matching score is larger than a threshold value based on distance to the identical object, determining the identical object to be an obstacle.
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Specification