Apparatus for and method of extracting image

• US 7,567,688 B2
• Filed: 11/23/2005
• Issued: 07/28/2009
• Est. Priority Date: 11/30/2004
• Status: Expired due to Fees

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Taniguchi, Fuminori, Nagaoka, Nobuharu, Watanabe, Masahito
• Primary Examiner(s): Tabatabai; Abolfazl
• Application Number:
  US11/287,552
• Publication Number:
  US 20060115163A1
• Time in Patent Office: 1,343 Days
• Field of Search: 382/103, 382/104, 382/107, 382/154, 382/190, 382/209, 348/143, 348/148, 348/149, 348/162, 348/164, 348/118, 348/120, 348/234, 348/235, 348/393.1, 348/489, 348/631, 348/663, 348/837, 701/200, 340901-904
• US Class Current: 382/103
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/20216 Image averaging
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 5/50 using two or more images, e.g. averaging or subtraction
• CPC Class Codes: G06T 7/337 involving reference images or patches

Abstract

The luminance signal of a reference image obtained by an infrared camera is adjusted such that the luminance signal of the reference image obtained is greater at all times than the luminance signal of a searching image obtained by an infrared camera. Correlative calculations are performed on the reference image and the searching image to detect one object in the reference image and the searching image without detecting the background of the images in error.

Claims

1. An apparatus for extracting an image of one object by comparing images obtained respectively by a plurality of imaging units, comprising:

a luminance signal adjusting unit for using one of the imaging units as a reference imaging unit and another imaging unit than said reference imaging unit as a searching imaging unit, and adjusting a luminance signal from said reference imaging unit or said searching imaging unit such that the luminance signal of a reference image obtained by said reference imaging unit is greater by a predetermined amount than the luminance signal of a searching image obtained by said searching imaging unit;

an object area setting unit for setting an object area including a particular object in said reference image;

an image comparing unit for comparing an image of said object area and said searching image with each other; and

an image extracting unit for extracting an image relating to said particular object from said searching image based on a comparison result from said image comparing unit;

wherein said image comparing unit performs correlative calculations on said images, and said image extracting unit extracts an image for which the results of the correlative calculations are minimum as said image relating to said particular object;

wherein said correlative calculations satisfy the equation

MAD2−

MAD1=a1−

b2−

a1−

a2>

0,

Where MAD1 is an evaluating value for the correlative calculations if the particular objects in the reference and searching images match each other, MAD2 is an evaluating value for the correlative calculations if the particular objects in the reference and searching images do not match each other, a1 is the luminance signal of the particular object obtained by the reference imaging unit, b1 is the luminance signal of the background around the particular object by the reference imaging unit, a2 is the luminance signal of the particular object obtained by the searching imaging unit, and b2 is the luminance signal of the background around the object by the searching imaging unit.

2. An apparatus according to claim 1, wherein said luminance signal adjusting unit has an adjustment table for adjusting said luminance signal of said reference image or said searching image obtained by said reference imaging unit or said searching imaging unit depending on the level of said luminance signal.

3. An apparatus according to claim 1, wherein said luminance signal adjusting unit has a single corrective value for adjusting said luminance signal of said reference image or said searching image obtained by said reference imaging unit or said searching imaging unit.

4. An apparatus according to claim 1, wherein said imaging units are mounted on a vehicle.

5. An apparatus according to claim 1, wherein said imaging units comprise infrared cameras for detecting infrared radiation radiated from said particular object.

6. An apparatus according to claim 1, wherein said luminance signal adjusting unit adjusts the luminance signal from said reference imaging unit or said searching imaging unit, such that the luminance signal of the particular object which has a luminance higher than that of a background in the reference image obtained by said reference imaging unit is greater than the luminance signal of the particular object in a searching image obtained by said searching imaging unit, and wherein said image comparing unit performs correlative calculations on the searching image and the object area set in the reference image, and said image extracting unit extracts an image for which the results of the correlative calculations are minimum as the image relating to the particular object from the searching image, based on a comparison result from said image comparing unit.

7. An apparatus according to claim 1, wherein said luminance signal adjusting unit adjusts the luminance signal from said reference imaging unit or said searching imaging unit, such that the luminance signal of the particular object which has a luminance higher than that of a background in the reference image obtained by said reference imaging unit is greater than the luminance signal of the particular object in a searching image obtained by said searching imaging unit so that the image of the particular object may be extracted from the searching image without recognizing a background image in error.

8. An apparatus according to claim 1, further comprising an image distortion correcting unit which corrects image distortions due to individual differences between the imaging units.

9. An apparatus for extracting an image of one object by comparing images obtained respectively by a plurality of imaging units, comprising:

an image selecting unit for selecting one of the images obtained by said imaging units;

an object area setting unit for setting an object area including a particular object in said image selected by said image selecting unit;

an image comparing unit for comparing an image of said object area and another image than said selected image with each other; and

an image extracting unit for extracting an image relating to said particular object from said other image based on a comparison result from said image comparing unit;

wherein said image selecting unit selects an image having a greatest luminance signal from the images obtained by said imaging units;

wherein said image comparing unit performs correlative calculations on said images, and said image extracting unit extracts an image for which the results of the correlative calculations are minimum as said image relating to said particular object.

10. An apparatus according to claim 9, wherein said imaging units are mounted on a vehicle.

11. A computer readable storage medium storing instructions that, when executed by a computer, cause the computer to perform a method of extracting an image of one object by comparing images obtained respectively by a plurality of imaging units, the method comprising the steps of:

using one of said imaging units as a reference imaging unit and another imaging unit than said reference imaging unit as a searching imaging unit, and adjusting a luminance signal from said reference imaging unit or said searching imaging unit such that the luminance signal of a reference image obtained by said reference imaging unit is greater by a predetermined amount than the luminance signal of a searching image obtained by said searching imaging unit;

setting an object area including a particular object in said reference image;

comparing an image of said object area and said searching image with each other; and

extracting an image relating to said particular object from said searching image based on a comparison result of said comparing step;

wherein said image comparing unit performs correlative calculations on said images, and said image extracting unit extracts an image for which the results of the correlative calculations are minimum as said image relating to said particular object;

wherein said correlative calculations satisfy the equation

MAD2−

MAD1=a1−

b2−

a1−

a2>

0.

where MAD1 is an evaluating value for the correlative calculations if the particular objects in the reference and searching images match each other MAD2 is an evaluating value for the correlative calculations if the particular objects in the reference and searching images do not match each other, a1 is the luminance signal of the particular object obtained by the reference imaging unit, b1 is the luminance signal of the background around the particular object by the reference imaging unit, a2 is the luminance signal of the particular object obtained by the searching imaging unit, and b2 is the luminance signal of the background around the object by the searching imaging unit.

12. A method according to claim 11, wherein said step of comparing comprises the step of performing correlative calculations on said image of said object area and said searching image, and said step of extracting comprises the step of extracting an image for which the results of the correlative calculations are minimum as said image relating to said particular object.

13. A computer readable storage medium storing instructions that, when executed by a computer, cause the computer to perform a method of extracting an image of one object by comparing images obtained respectively by a plurality of imaging units, the method comprising the steps of:

selecting an image having a greatest luminance signal from the images obtained by said imaging units;

setting an object area including a particular object in said selected image;

comparing an image of said object area and another image than said selected image with each other; and

extracting an image relating to said particular object from said other image based on a comparison result of said step of comparing;

wherein said step of comparing comprises the step of performing correlative calculations on said image of said object area and said other image, and said step of extracting comprises the step of extracting an image for which the results of the correlative calculations are minimum as said image relating to said particular object.