Obstacle detecting apparatus and method

• US 7,209,031 B2
• Filed: 03/21/2006
• Issued: 04/24/2007
• Est. Priority Date: 03/29/2002
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Nakai, Hiroaki, Hattori, Hiroshi, Onoguchi, Kazunori, Takeda, Nobuyuki
• Primary Examiner(s): Wu; Daniel
• Assistant Examiner(s): Previl; Daniel
• Application Number:
  US11/384,314
• Publication Number:
  US 20060182312A1
• Time in Patent Office: 399 Days
• Field of Search: 340/435, 340/937, 340/425.5, 340/933, 340/436, 340/901, 340/902, 340/903, 701/300, 701/28, 701/1, 701/28.1, 342/61, 342/70, 367/99, 367/107, 367/112
• US Class Current: 340/435
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06T 7/77 using statistical methods
• CPC Class Codes: G06T 7/97 Determining parameters from multiple pictures depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

An obstacle detecting apparatus includes an image input unit for receiving images inputted respectively from a plurality of image pick-up devices and accumulating the input images, a feature calculating unit for calculating predetermined, specific feature quantities in the respective accumulated images, a feature comparing unit for comparing the feature quantities, and a result judging unit for judging the presence or absence of an obstacle on the basis of the comparison result. The obstacle detecting apparatus can thus detect an obstacle present on the road by distinguishing the obstacle from a mere object causing no obstruction to driving of the vehicle.

Claims

1. An apparatus for detecting with at least one image pick-up device, whether there is any obstacle within a detectable area, said apparatus comprising:

image input means for receiving an image from the image pick-up device;

feature calculating means for calculating a luminance distribution along a luminance gradient at each pixel in each of a plurality of predetermined elementary regions in the image;

indicator calculating means for calculating an elementary indicator from each luminance distribution and thereby obtaining a combined indicator of the elementary indicators of the elementary regions; and

concluding means for concluding the presence of an obstacle when the combined indicator is equal to, or above a threshold value.

2. The apparatus of claim 1, wherein each of said elementary regions is a rectangular region extending longitudinally within said image.

3. A method for detecting with at least one pick-up device, whether there is any obstacle within a detectable area, said method comprising:

inputting an image from said image pick-up device;

calculating a luminance distribution along a luminance gradient at each pixel in each of a plurality of predetermined elementary regions in the image;

calculating an elementary indicator from each luminance distribution and thereby obtaining a combined indicator of the elementary indicators of the elementary regions; and

concluding the presence of an obstacle when the combined indicator is equal to, or above a threshold value.

4. A computer readable medium which stores a program for detecting with at least one pick-up device, whether there is any obstacle within a detectable area, said program when executed by a computer, causing the computer to perform steps of:

inputting an image from said image pick-up device;

calculating a luminance distribution along a luminance gradient at each pixel in each of a plurality of predetermined elementary regions in the image;

calculating an elementary indicator from each luminance distribution and thereby obtaining a combined indicator of the elementary indicators of the elementary regions; and

concluding the presence of an obstacle when the combined indicator is equal to, or above a threshold value.