VEHICLE PERIPHERY MONITORING DEVICE, VEHICLE PERIPHERY MONITORING PROGRAM AND VEHICLE PERIPHERY MONITORING METHOD
First Claim
1. A vehicle periphery monitoring device which is provided with an imaging unit mounted in a vehicle to image a periphery of the vehicle and is configured to monitor the periphery of the vehicle on the basis of a captured image by the imaging unit, comprising:
- an object detecting portion configured to detect an object located in an imaging area imaged by the imaging unit;
an image processing target area setting portion configured to set an image processing target area which may include an image portion of a monitoring object in the captured image on the basis of a detection result from the object detecting portion;
a contour extracting portion configured to extract a contour of the image portion included in the image processing target area; and
an object type discriminating portion configured to discriminate a type of the monitoring object in a real space corresponding to the image portion from which the contour has been extracted by the contour extracting portion on the basis of the extracted contour.
1 Assignment
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Accused Products
Abstract
A vehicle periphery monitoring device includes an image processing target area setting portion (21) configured to set an image processing target area in the captured image based on a distance detected by a radar between object and a vehicle; a directivity extracting portion (22) configured to perform a a differential filtering on each of pixels in the image processing target area in a predefined direction; an image processing target area correcting portion (23) configured to extract a feature region having a feature amount of a pedestrian'"'"'s head and to correct a range of the image processing target area based on a position of the feature region; a contour extracting portion (24) configured to extract a contour of the image portion included in the corrected image processing target area; and an object type discriminating portion (25) configured to discriminate a type of the monitoring object based on the extracted contour.
22 Citations
11 Claims
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1. A vehicle periphery monitoring device which is provided with an imaging unit mounted in a vehicle to image a periphery of the vehicle and is configured to monitor the periphery of the vehicle on the basis of a captured image by the imaging unit, comprising:
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an object detecting portion configured to detect an object located in an imaging area imaged by the imaging unit; an image processing target area setting portion configured to set an image processing target area which may include an image portion of a monitoring object in the captured image on the basis of a detection result from the object detecting portion; a contour extracting portion configured to extract a contour of the image portion included in the image processing target area; and an object type discriminating portion configured to discriminate a type of the monitoring object in a real space corresponding to the image portion from which the contour has been extracted by the contour extracting portion on the basis of the extracted contour. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle periphery monitoring program which causes a computer provided with an accessing portion configured to access a captured image by an imaging unit which is mounted in a vehicle to image a periphery of the vehicle to monitor the periphery of the vehicle on the basis of the captured image by the imaging unit, the program functioning the computer as:
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an object detecting portion configured to detect an object located in an imaging area imaged by the imaging unit; an image processing target area setting portion configured to set an image processing target area which may include an image portion of a monitoring object in the captured image on the basis of a detection result from the object detecting portion; a contour extracting portion configured to extract a contour of the image portion included in the image processing target area; and an object type discriminating portion configured to discriminate a type of the monitoring object in a real space corresponding to the image portion from which the contour has been extracted by the contour extracting portion on the basis of the extracted contour.
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11. A vehicle periphery monitoring method which monitors a periphery of a vehicle according to a computer provided with an accessing portion configured to access a captured image by an imaging unit which is mounted in the vehicle to image the periphery of the vehicle to monitor the periphery of the vehicle on the basis of the captured image by the imaging unit, comprising steps of:
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an object detecting step in which the computer detects an object located in an imaging area imaged by the imaging unit; an image processing target area setting step in which the computer sets an image processing target area which may include an image portion of a monitoring object in the captured image on the basis of a detection result from the object detecting step; a contour extracting step in which the computer extracts a contour of the image portion included in the image processing target area; and an object type discriminating step in which the computer discriminates a type of the monitoring object in a real space corresponding to the image portion from which the contour has been extracted by the contour extracting step on the basis of the extracted contour.
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Specification