Vehicle system for detecting object and operation method thereof
First Claim
1. A vehicle system for detecting an object comprising:
- at least one camera installed at a front or a rear of a vehicle to capture images, in a vicinity of the vehicle, including a previous image and a current image which are consecutively captured;
an input and output device including a display screen and a speaker; and
circuitry including a microprocessor and configured to;
convert the images input from the at least one camera;
extract points from at least one of a corner, an edge, and a contour line from a background of the images to detect a moving object from an area where the points are extracted;
generate a warping image using the previous image by warping areas in the previous image to correspond to the same areas in the current image;
generate a difference image which shows a difference between the warping image and the current image;
detect the moving object from an area where the points are not extracted based on the difference image;
determine if the moving object, detected from the area where the points are extracted or the area where the points are not extracted, approaches the vehicle; and
output a warning signal through at least one of the display screen and the speaker if the moving object approaches the vehicle.
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Abstract
A vehicle system for detecting an object, including: an image input unit installed at the front or the rear of a vehicle to capture images in the vicinity of the vehicle; an image processing unit converting the image input from the image input unit; an object detecting unit analyzing the images converted by the image processing unit and extracting key points for a background of the images to detect a moving object approaching the vehicle; an interface unit including an input means for the vehicle and an output means outputting information; and a control unit controlling a warning for the moving object to be detected from the object detecting unit and output through the interface.
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Citations
15 Claims
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1. A vehicle system for detecting an object comprising:
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at least one camera installed at a front or a rear of a vehicle to capture images, in a vicinity of the vehicle, including a previous image and a current image which are consecutively captured; an input and output device including a display screen and a speaker; and circuitry including a microprocessor and configured to; convert the images input from the at least one camera; extract points from at least one of a corner, an edge, and a contour line from a background of the images to detect a moving object from an area where the points are extracted; generate a warping image using the previous image by warping areas in the previous image to correspond to the same areas in the current image; generate a difference image which shows a difference between the warping image and the current image; detect the moving object from an area where the points are not extracted based on the difference image; determine if the moving object, detected from the area where the points are extracted or the area where the points are not extracted, approaches the vehicle; and output a warning signal through at least one of the display screen and the speaker if the moving object approaches the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An operation method of a vehicle system for detecting an object, the method comprising:
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capturing, by at least one camera of a vehicle, images in a vicinity of the vehicle, wherein the images includes a previous image and a current image which are consecutively captured; extracting, by circuitry including a microprocessor, points from at least one of a corner, an edge, and a contour line from a background of the images to detect a moving object from an area where the points are extracted; extracting, by the circuitry, a background feature for an area which becomes a background among the extracted points and detecting a motion of the background feature; analyzing, by the circuitry, a motion of the vehicle to correspond to the motion of the background feature and detecting the moving object from an area which moves differently from the motion of the vehicle; generating, by the circuitry, a warping image using the previous image by warping areas in the previous image to correspond to the same areas in the current image; generating, by the circuitry, a difference image which shows a difference between the warping image and the current image; detecting, by the circuitry, the moving object from an area where the points are not extracted based on the difference image; determining, by the circuitry, whether the moving object, detected from the area where the points are extracted or the area where the points are not extracted, approaches the vehicle; and outputting, by the circuitry, a warning signal through at least one of a display screen and a speaker when the moving object approaches the vehicle. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification