Apparatus for detecting an object using a differential image

• US 6,548,804 B1
• Filed: 09/15/1999
• Issued: 04/15/2003
• Est. Priority Date: 09/30/1998
• Status: Expired due to Fees

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Saka, Masakazu, Habaguchi, Masayuki, Yuhara, Hiromitsu, Terauchi, Akira
• Primary Examiner(s): Le, Que T.
• Assistant Examiner(s): Luu, Thanh X.
• Application Number:
  US09/396,231
• Time in Patent Office: 1,308 Days
• Field of Search: 250/208.1, 250/221, 250/559.36, 250/559.29, 250/559.3, 250/559.32, 250/559.39, 356/390, 356/611, 356/613, 382/100, 382/104, 382/151, 382/154, 382/199, 382/107, 382/103, 701/28, 701/45, 348/700, 348/135
• US Class Current: 250/221
• CPC Class Codes: B60R 21/01516 using force or pressure sensing means
• CPC Class Codes: B60R 21/01538 for image processing, e.g. cameras or sensor arrays
• CPC Class Codes: G06T 7/254 involving subtraction of images
• CPC Class Codes: G06V 10/10 Image acquisition document image scanning and transmission H04N1/00; control of digital cameras H04N23/60
• CPC Class Codes: G06V 20/593 Recognising seat occupancy
• CPC Class Codes: G06V 40/10 Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands

Abstract

An object detecting apparatus including an imaging section, an extracting section for extracting edge images from image signals supplied from the imaging section, a forming section for forming a differential image between a first edge image extracted from an image signal that has been picked up for an object at a certain time and a second edge image extracted from an image signal that has been picked up for the same object at a later time, and a detecting section for detecting the object on the basis of the differential image. With the object detecting apparatus, portions of a background without motion that are contained in the edge images are eliminated to produce edge images that only relate to the object that is substantially in motion. As a result, information can be efficiently obtained that relates to the state, position and otherwise of the object in motion.

Claims

1. An object detecting apparatus comprising:

imaging means for imaging an object;

extracting means for extracting edge images from image signals supplied from said imaging means;

forming means for forming a differential image between a first of the edge images and a second of the edge images as extracted from image signals based on images that have been imaged by the imaging means at different times;

refining means for dividing the differential image into a predetermined plurality of image areas, each of said plurality of image areas containing a plurality of pixels wherein each of said image area has a value associated therewith; and

detecting means for detecting a state of the object on the basis of a comparison between the value of each of said image areas and a threshold value.

2. The object detecting apparatus according to claim 1, which is to be installed on a vehicle and wherein said detecting means includes state determining means for determining a state of a passenger.

3. The object detecting apparatus according to claim 1, which is to be installed on a vehicle and wherein said detecting means includes head position determining means for determining a position of a head of a passenger from a shape of the differential image.

4. The object detecting apparatus of claim 1, wherein each of said pixels of said plurality of pixels has a binary value.

5. The object detecting apparatus of claim 4, wherein said refining means compares the binary value for at least one of said pixels of said plurality of pixels to a threshold value to determine an average binary value said average binary value being assigned to said pixel.

6. The object detecting apparatus of claim 5, wherein said value associated with each of said plurality of image areas is representative of a summation of said average binary values assigned to one or more of said plurality of pixels.

7. The object detecting apparatus of claim 1, wherein said refining means determine said value associated with said predetermined plurality of image areas by summing an average value of said plurality of pixels contained in each of said predetermined plurality of image areas.

8. The object detecting apparatus of claim 7, wherein said binary value for a selected one or more pixels of each of said plurality of pixels is compared to a threshold value to determine an average binary value for said selected one or more pixels.

9. An object detecting apparatus comprising:

an imaging device for imaging an object;

an extracting module for extracting edge images from image signals supplied from said imaging means;

a forming module for forming a differential image between a first of the edge images containing a first edge image of the object and a second of the edge images containing a second edge image of the object as extracted from the image signals based on images of the object that have been imaged by the imaging means at different times;

a refining module for dividing the differential image into a predetermined plurality of image areas, each of said plurality of image areas containing a plurality of pixels wherein each of said image areas has a value associated; and

a detecting module for detecting motion of the object on the basis of a comparison between values obtained from each of said image areas in the differential image and a threshold value.

10. The object detecting apparatus of claim 9, wherein each pixel in said plurality pixel has a binary value.

11. The object detecting apparatus of claim 10, wherein said value associated with each of said plurality of image areas is representative of a summation of one or more of said average binary values for said selected one or more pixels.

12. The object detecting apparatus of claim 9, wherein said refining means determine said value associated with said predetermined plurality of image areas by summing an average value of said plurality of pixels contained in each of said predetermined plurality of image areas.