Outside recognition apparatus and lens dirtiness detection method
First Claim
1. An outside recognition apparatus configured to detect a raindrop on a lens of a camera, comprising:
- a control unit; and
a memory coupled to the control unit,wherein the memory stores therein pixel value data of an image captured by the camera, andwherein the control unit is configured to;
calculate image frequency powers of a plurality of frequency regions based on pixel values of a first region of a plurality of first regions of the image;
determine whether each of the calculated image frequency powers of the plurality of frequency regions of the first region exceeds a predetermined first threshold;
determine that the raindrop is in the first region if a number of the plurality of frequency regions in which the calculated image frequency powers does not exceed the first threshold value exceeds a predetermined second threshold;
calculate image frequency powers based on pixel values of a plurality of second regions of the image each made of the plurality of the first regions, each of the plurality of second regions being smaller than the entire image;
calculate image frequency powers based on pixel values of the plurality of first regions;
determine presence or absence of the raindrop based on the calculated image frequency powers of the plurality of second regions and the calculated image frequency powers of the plurality of first regions; and
output the determination that the raindrop is present or absent.
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Accused Products
Abstract
It is possible to consider an image as a composite wave that is the result of layering waves having differing periods and amplitudes. An image captured via a lens having a water droplet attached thereto has a higher occurrence of changes such as image blur than an image that does not have a water droplet attached thereto, which means that this type of change in an image results in changes in the composite wave thereof as well. Provided is a lens dirtiness detection device that suitably determines whether a lens is dirty without being affected by a background image by: focusing on the occurrence of large changes in the composite wave of an image that accompany an increase in the dirtiness of a camera lens; extracting each of the image frequency components that constitute the composite wave; and analyzing changes in the magnitude relation between the frequency components.
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Citations
10 Claims
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1. An outside recognition apparatus configured to detect a raindrop on a lens of a camera, comprising:
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a control unit; and a memory coupled to the control unit, wherein the memory stores therein pixel value data of an image captured by the camera, and wherein the control unit is configured to; calculate image frequency powers of a plurality of frequency regions based on pixel values of a first region of a plurality of first regions of the image; determine whether each of the calculated image frequency powers of the plurality of frequency regions of the first region exceeds a predetermined first threshold; determine that the raindrop is in the first region if a number of the plurality of frequency regions in which the calculated image frequency powers does not exceed the first threshold value exceeds a predetermined second threshold; calculate image frequency powers based on pixel values of a plurality of second regions of the image each made of the plurality of the first regions, each of the plurality of second regions being smaller than the entire image; calculate image frequency powers based on pixel values of the plurality of first regions; determine presence or absence of the raindrop based on the calculated image frequency powers of the plurality of second regions and the calculated image frequency powers of the plurality of first regions; and output the determination that the raindrop is present or absent. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for detecting a raindrop on a lens of a camera using an outside recognition apparatus that includes a control unit, and a memory coupled to the control unit, the memory storing therein pixel value data of an image captured by the camera, the method comprising:
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calculating image frequency powers of a plurality of frequency regions based on pixel values of a first region of a plurality of first regions of the image; determining whether each of the calculated image frequency powers of the plurality of frequency regions of the first region exceeds a predetermined first threshold; determining that the raindrop is in the first region if a number of the plurality of frequency regions in which the calculated image frequency powers does not exceed the first threshold value exceeds a predetermined second threshold; calculating image frequency powers based on pixel values of a plurality of second regions of the image each made of the plurality of the first regions, each of the plurality of second regions being smaller than the entire image; calculating image frequency powers based on pixel values of the plurality of first regions; determining presence or absence of the raindrop based on the calculated image frequency powers of the plurality of second regions and the calculated image frequency powers of the plurality of first regions; and determining that the raindrop is present or absent.
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Specification