System, method, and program for detecting approach to object

• US 6,581,007 B2
• Filed: 05/09/2002
• Issued: 06/17/2003
• Est. Priority Date: 05/11/2001
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Okuma, Jiro, Hasegawa, Yuji
• Primary Examiner(s): Arthur, Gertrude
• Application Number:
  US10/140,951
• Publication Number:
  US 20020169555A1
• Time in Patent Office: 404 Days
• Field of Search: 701/28, 701/117, 701/301, 340/436, 340/903
• US Class Current: 701/301
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80

Abstract

A system for accurately detecting approach to an object by performing simple processing. The system comprises an optical flow calculating section for calculating an optical flow based on at least two time-series images; a first adding section for calculating an added value for detecting approach, by adding values corresponding to data of the optical flow assigned to a first predetermined area defined on the images, where a predetermined filter function is used in the adding calculation; a second adding section for calculating an added value for detecting vibration, by adding values corresponding to data of the optical flow assigned to a second predetermined area defined on the images, where said filter function is used in the adding calculation; and, a situation determining section for determining that approach to the object has occurred when a difference between the added values for detecting approach and vibration exceeds a predetermined threshold value.

Claims

1. A system for detecting approach to an object based on time-series images of a surrounding environment, comprising:

an optical flow calculating section for calculating an optical flow based on at least two time-series images;

a first adding section for calculating an added value for detecting approach, by adding values corresponding to data of the optical flow assigned to a first predetermined area defined on the images, where a predetermined filter function is used in the adding calculation;

a second adding section for calculating an added value for detecting vibration, by adding values corresponding to data of the optical flow assigned to a second predetermined area defined on the images, where said filter function is used in the adding calculation; and

,

a situation determining section for determining that approach to the object has occurred when a difference between the added values for detecting approach and vibration exceeds a predetermined threshold value.

2. A system for detecting approach to an object as claimed in claim 1, wherein:

the second predetermined area is defined in a manner such that the second predetermined area does not include a source of the optical flow on the images; and

the first predetermined area is defined further from the source of the optical flow in comparison with the second predetermined area.

3. A system for detecting approach to an object as claimed in any one of claims 1 and 2, wherein the first and second predetermined areas are defined so as to calculate the added values for detecting approach and vibration by using at least one of a yaw component and a pitch component of the optical flow.

4. A system for detecting approach to an object as claimed in claim 1, wherein the situation determining section includes:

a noise removing section for removing a high-frequency noise component from each of the added values for detecting approach and vibration by using a temporal filter based on a predetermined time constant;

a weighting section for multiplying each of the added values for detecting approach and vibration, which include no high-frequency noise component, by a predetermined weight coefficient;

a subtracting section for calculating a difference between the weighted added value for detecting approach and the weighted added value for detecting vibration; and

a determining section for determining whether the difference between the weighted added values for detecting approach and vibration exceeds a predetermined threshold value.

5. A system for detecting approach to an object as claimed in claim 1, wherein:

the second predetermined area is defined in a manner such that the second predetermined area does not include a source of the optical flow on the images;

the first predetermined area is defined further from the source of the optical flow in comparison with the second predetermined area;

the first and second predetermined areas are defined so as to calculate the added values for detecting approach and vibration by using at least one of a yaw component and a pitch component of the optical flow; and

the situation determining section includes;

a noise removing section for removing a high-frequency noise component from each of the added values for detecting approach and vibration by using a temporal filter based on a predetermined time constant;

a weighting section for multiplying each of the added values for detecting approach and vibration, which include no high-frequency noise component, by a predetermined weight coefficient;

a subtracting section for calculating a difference between the weighted added value for detecting approach and the weighted added value for detecting vibration; and

a determining section for determining whether the difference between the weighted added values for detecting approach and vibration exceeds a predetermined threshold value.

6. A method of detecting approach to an object based on time-series images of a surrounding environment, comprising:

an optical flow calculating step for calculating an optical flow based on at least two time-series images;

a first adding step for calculating an added value for detecting approach, by adding values corresponding to data of the optical flow assigned to a first predetermined area defined on the images, where a predetermined filter function is used in the adding calculation;

a second adding step for calculating an added value for detecting vibration, by adding values corresponding to data of the optical flow assigned to a second predetermined area defined on the images, where said filter function is used in the adding calculation; and

,

a situation determining step for determining that approach to the object has occurred when a difference between the added values for detecting approach and vibration exceeds a predetermined threshold value.

7. A method of detecting approach to an object as claimed in claim 6, wherein:

the second predetermined area is defined in a manner such that the second predetermined area does not include a source of the optical flow on the images; and

the first predetermined area is defined further from the source of the optical flow in comparison with the second predetermined area.

8. A method of detecting approach to an object as claimed in any one of claims 6 and 7, wherein the first and second predetermined areas are defined so as to calculate the added values for detecting approach and vibration by using at least one of a yaw component and a pitch component of the optical flow.

9. A method of detecting approach to an object as claimed in claim 6, wherein the situation determining step includes:

a noise removing step for removing a high-frequency noise component from each of the added values for detecting approach and vibration by using a temporal filter based on a predetermined time constant;

a weighting step for multiplying each of the added values for detecting approach and vibration, which include no high-frequency noise component, by a predetermined weight coefficient;

a subtracting step for calculating a difference between the weighted added value for detecting approach and the weighted added value for detecting vibration; and

a determining step for determining whether the difference between the weighted added values for detecting approach and vibration exceeds a predetermined threshold value.

10. A method of detecting approach to an object as claimed in claim 6, wherein:

the second predetermined area is defined in a manner such that the second predetermined area does not include a source of the optical flow on the images;

the first predetermined area is defined further from the source of the optical flow in comparison with the second predetermined area;

the first and second predetermined areas are defined so as to calculate the added values for detecting approach and vibration by using at least one of a yaw component and a pitch component of the optical flow; and

the situation determining step includes;

a noise removing step for removing a high-frequency noise component from each of the added values for detecting approach and vibration by using a temporal filter based on a predetermined time constant;

a weighting step for multiplying each of the added values for detecting approach and vibration, which include no high-frequency noise component, by a predetermined weight coefficient;

a subtracting step for calculating a difference between the weighted added value for detecting approach and the weighted added value for detecting vibration; and

a determining step for determining whether the difference between the weighted added values for detecting approach and vibration exceeds a predetermined threshold value.

11. A program for making a computer execute an operation for detecting approach to an object based on time-series images of a surrounding environment, the operation comprising:

an optical flow calculating step for calculating an optical flow based on at least two time-series images;

a first adding step for calculating an added value for detecting approach, by adding values corresponding to data of the optical flow assigned to a first predetermined area defined on the images, where a predetermined filter function is used in the adding calculation;

a second adding step for calculating an added value for detecting vibration, by adding values corresponding to data of the optical flow assigned to a second predetermined area defined on the images, where said filter function is used in the adding calculation; and

,

a situation determining step for determining that approach to the object has occurred when a difference between the added values for detecting approach and vibration exceeds a predetermined threshold value.

12. A program as claimed in claim 11, wherein in the operation:

the second predetermined area is defined in a manner such that the second predetermined area does not include a source of the optical flow on the images; and

the first predetermined area is defined further from the source of the optical flow in comparison with the second predetermined area.

13. A program as claimed in any one of claims 11 and 12, wherein in the operation, the first and second predetermined areas are defined so as to calculate the added values for detecting approach and vibration by using at least one of a yaw component and a pitch component of the optical flow.

14. A program as claimed in claim 11, wherein in the operation, the situation determining step includes:

a noise removing step for removing a high-frequency noise component from each of the added values for detecting approach and vibration by using a temporal filter based on a predetermined time constant;

a weighting step for multiplying each of the added values for detecting approach and vibration, which include no high-frequency noise component, by a predetermined weight coefficient;

a subtracting step for calculating a difference between the weighted added value for detecting approach and the weighted added value for detecting vibration; and

a determining step for determining whether the difference between the weighted added values for detecting approach and vibration exceeds a predetermined threshold value.

15. A program as claimed in claim 11, wherein in the operation:

the second predetermined area is defined in a manner such that the second predetermined area does not include a source of the optical flow on the images;

the first predetermined area is defined further from the source of the optical flow in comparison with the second predetermined area;

the first and second predetermined areas are defined so as to calculate the added values for detecting approach and vibration by using at least one of a yaw component and a pitch component of the optical flow; and

the situation determining step includes;

a noise removing step for removing a high-frequency noise component from each of the added values for detecting approach and vibration by using a temporal filter based on a predetermined time constant;

a weighting step for multiplying each of the added values for detecting approach and vibration, which include no high-frequency noise component, by a predetermined weight coefficient;

a subtracting step for calculating a difference between the weighted added value for detecting approach and the weighted added value for detecting vibration; and

a determining step for determining whether the difference between the weighted added values for detecting approach and vibration exceeds a predetermined threshold value.