Method and apparatus for obtaining an object image and distance data of a moving object

• US 4,908,704 A
• Filed: 12/09/1988
• Issued: 03/13/1990
• Est. Priority Date: 12/11/1987
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Watanabe, Sadakazu, Fujioka, Arisa
• Primary Examiner(s): Groody, James J.
• Assistant Examiner(s): Kostak, Victor R.
• Application Number:
  US07/282,257
• Time in Patent Office: 459 Days
• Field of Search: 358/105, 358/108, 358/125, 358/126, 358/109, 358/93, 358/107, 340/531, 340/539, 340/565, 340/990, 340/995, 340/937, 364/456, 364/458, 364/460, 382/23, 382/48, 342/64-66, 367/93, 367/94
• US Class Current: 348/155
• CPC Class Codes: B60G 2400/823 Obstacle sensing
• CPC Class Codes: B60G 2401/142 Visual Display Camera, e.g. LCD
• CPC Class Codes: B60G 2800/222 during collision
• CPC Class Codes: B60G 2800/242 Obstacle avoidance manoeuvre
• CPC Class Codes: G06V 20/52 Surveillance or monitoring of activities, e.g. for recognising suspicious objects recognising microscopic objects G06V20/69
• CPC Class Codes: G08B 13/19604 involving reference image or background adaptation with time to compensate for changing conditions, e.g. reference image update on detection of light level change

Abstract

An apparatus for monitoring a moving object comprises an image memory for storing a reference monitor image of a designated monitor region, a distance map memory for storing a distance map, the monitor image of the designated monitor region and the distance map comprising a plurality of blocks having distance data from a predetermined reference point in the monitor region to points corresponding to the blocks, an object image detector for detecting an object image based on an input monitor image of the designated monitor region and the reference monitor image read out from the image memory, and a distance detector for detecting a distance from the reference point to the moving object in accordance with the detected object image and the distance map read out from the distance map memory.

Claims

1. An apparatus for monitoring a moving object, comprising:

image memory means for storing reference monitor images of a designated monitor region;

distance map generation means for performing predetermined transformation processing of the reference monitor image to generate a distance map from the reference monitor image, the distance map comprising a plurality of blocks, each block including at least one pixel, and the distance map having distance data from a predetermined reference point to points in the designated monitor region corresponding to each of the blocks;

distance map memory means for storing the distance map;

object image detecting means for detecting an object image of the moving object from an input monitor image of the designated monitor region and the reference monitor image stored in said image memory means; and

distance detecting means for detecting a distance from the reference point to the moving object from the detected object image and the distance map stored in said distance map memory means.

2. An apparatus according to claim 1, further comprising:

size detecting means for comparing the distance map in said distance map memory means with the detected object image by said object image detecting means to count the number of blocks corresponding to the detected object image and detecting an object size form the counted value; and

alarm means for generating an alarm in accordance with the distance detected by said distance detecting means and the detected object size.

3. An apparatus for monitoring a moving object, comprising:

image memory means for storing a reference monitor image of a designated monitor region;

distance map memory means for storing a distance map, the distance map comprising a plurality of blocks, and the distance map having distance data from a predetermined reference point to points in the designated monitor region corresponding to each of the blocks;

object image detecting means for detecting an object image of the moving object from an input monitor image of the designated monitor region and the reference monitor image stored in said image memory means;

distance detecting means for detecting a distance from the reference point to the moving object from the detected object image and the distance map stored in said distance map memory means; and

alarm means for selectively generating an alarm in accordance with the distance detected by said distance detecting means.

4. An apparatus according to claim 3, further comprising:

velocity detecting means for detecting a velocity of the object in accordance with a distance previously detected by said distance detecting means, a distance currently detected thereby, and a time from the previous detection to the current detection.

5. An apparatus according to claim 3, further comprising:

means for, when the object image is not detected from the monitor image by said object image detecting means, storing the monitor image in said image memory means as the reference monitor image.

6. An apparatus for monitoring a moving object, comprising:

image memory means for storing reference monitor images corresponding to a plurality of monitor regions;

distance map memory means for storing a plurality of distance maps corresponding to the plurality of monitor regions, each of the monitor images corresponding to each monitor region and each of the distance maps comprising a plurality of blocks and having distance data from a predetermined reference point to points in one monitor region corresponding to each of the blocks;

designation means for designating one of the plurality of monitor regions, one of the plurality of reference monitor images, and one of the plurality of distance maps;

object image detecting means for detecting an object image of the object from an input monitor image of the designated monitor region and the designated reference monitor image; and

distance detecting means for detecting a distance from the reference point to the moving object from the detected object image and the designated distance map.

7. An apparatus according to claim 6, further comprising:

distance map generating means for generating the plurality of distance maps from the plurality of reference monitor images, respectively.

8. An apparatus according to claim 7, wherein said distance map generating means includes

means for performing predetermined transformation processing of the plurality of reference monitor images to generate the plurality of distance maps.

9. An apparatus according to claim 6, further comprising:

alarm means for selectively generating an alarm in accordance with the distance detected by said distance detecting means.

10. An apparatus according to claim 6, further comprising:

size detecting means for comparing the distance map corresponding to the detected object image with the detected object image by said object image detecting means to count the number of blocks corresponding to the detected object image and detecting an object size from the counted value; and

alarm means for generating an alarm in accordance with the distance detected by said distance detecting means and the detected object size.

11. An apparatus according to claim 6, further comprising:

velocity detecting means for detecting a velocity of the object from a distance previously detected by said distance detecting means, a distance currently detected thereby, and a time from the previous detection to the current detection.

12. An apparatus according to claim 6, further comprising:

means for, when the object image is not detected by said object image detecting means, storing the monitor image in said image memory means as the designated reference monitor image.

13. A method of monitoring a moving state of an object in accordance with a distance map, comprising the steps of:

storing a reference monitor image of a designated monitor region in an image memory;

detecting an object image of the moving object from a monitor image of the designated monitor region and the stored reference monitor image; and

detecting a distance from a predetermined reference point to the moving object from the detected object image and the distance map, the distance map comprising a plurality of blocks and having distance data from the predetermined reference point to points in the monitor region corresponding to each of the blocks.

14. A method according to claim 13, further comprising:

generating the distance map from the reference monitor image.

15. A method according to claim 14, wherein said distance map generating step includes:

generating the distance map by performing predetermined transformation processing of the reference monitor image.

16. A method according to claim 13, further comprising:

selectively generating an alarm in accordance with the detected distance.

17. A method according to claim 13, further comprising:

detecting the number of blocks constituting the detected object image; and

generating an alarm in accordance with the detected distance and the detected number of blocks.