Mobile unit position detecting apparatus and mobile unit position detecting method

• US 8,811,746 B2
• Filed: 01/17/2012
• Issued: 08/19/2014
• Est. Priority Date: 07/31/2009
• Status: Expired due to Fees

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Sawada, Kensuke
• Primary Examiner(s): Drennan, Barry
• Assistant Examiner(s): Mistry, Oneal R
• Application Number:
  US13/351,609
• Publication Number:
  US 20120189162A1
• Time in Patent Office: 945 Days
• Field of Search: None
• US Class Current: 382/191
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10024 Color image
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/75 involving models

Abstract

The mobile unit position detecting apparatus generates target data by extracting a target from an image shot by the image capturing device, extracts target setting data that best matches the target data, is prerecorded in a recording unit and is shot for each target, obtains a target ID corresponding to the extracted target setting data from the recording unit, detects position data associated with the obtained target ID, tracks the target in the image shot by the image capturing device, and calculates an aspect ratio of the target being tracked in the image. If the aspect ratio is equal to or lower than a threshold value, the mobile unit position detecting apparatus outputs the detected position data.

Claims

1. A mobile unit position detecting apparatus, comprising:

an image capturing device for sequentially or intermittently shooting, with the image capturing device, a target installed in a vicinity of a route on which a mobile unit can move, and for detecting a position of the mobile unit based on the target in a shot image;

target position extracting unit configured to identify image data that matches image data of the target in the image from among image data of a plurality of targets by making a comparison between the image data of the plurality of targets and the image data of the target, which are recorded in a recording unit, and the image data of the target in the image, and to obtain position data that is recorded in the recording unit, is associated with the identified image data and indicates a position when the mobile unit approaches the target at a predetermined distance;

target position outputting unit configured to output the position data if determining whetherthat the target in the image changes to a shape, recorded in the recording unit, of the target in the image when the mobile unit approaches the target at the predetermined distance;

the recording unit configured to record a target ID, assigned to the target, for identifying the target, target setting data including the image data of the target shot in advance for each target in association with the target ID, a threshold value obtained by calculating an aspect ratio based on the shape of the target in the image when the mobile unit approaches the target at the predetermined distance, and position data, that indicates a position for which the threshold value is calculated, wherein;

the target position extracting unit comprises

a target detecting unit configured to generate target data by extracting the target from the image shot by the image capturing device, to extract from the recording unit target setting data that best matches the target data, and to obtain a target ID corresponding to the extracted target setting data, and

a target position information converting unit configured to detect the position data associated with the target ID from the recording unit after obtaining the target ID obtained by the target detecting unit; and

the target position outputting unit comprises

an aspect ratio calculating unit configured to track the target in the image shot by the image capturing device, and to calculate an aspect ratio of the target being tracked in the image,

a comparing unit configured to output an enable signal if the aspect ratio is equal to or lower than the threshold value, and

an FF unit configured to obtain position data from the target position information converting unit, to output the position data upon receipt of the enable signal and to update a current position of the mobile unit based on the position data.

2. The mobile unit position detecting apparatus according to claim 1, further comprising

an infrared image capturing device that can shoot an image of the target with an infrared ray, separately from the image capturing device, wherein:

the recording unit comprises a table for the infrared image capturing device, in which target setting data including the image data of the target, which is shot by the infrared image capturing device in advance for each target, the position data and the threshold value are recorded in association with the target ID;

a camera selecting unit configured to make a comparison between brightness levels of images shot by the image capturing device and the infrared image capturing device, and to select an image capturing device having a higher brightness level is comprised;

a camera switching unit configured to output, to the target detecting unit, image-captured data that is shot by the image capturing device selected by the camera selecting unit is comprised; and

if the infrared image capturing device is selected, the target detecting unit obtains the target ID by using the table for the infrared image capturing device, and the target position information converting unit obtains the position data by using the table for the infrared image-capturing device.

3. The mobile unit position detecting apparatus according to claim 1, further comprising

a second image capturing device for shooting a shooting range that is different from a shooting range of the image capturing device and is common to the shooting range of the image capturing device, separately from the image capturing device, wherein

a synthesis image is generated by synthesizing image-captured data shot by the image capturing device and the second image capturing device so that common shooting ranges overlap, and the synthesis image is output to the target detecting unit.

4. The mobile unit position detecting apparatus according to claim 1, wherein

a pattern in which target IDs are recorded in an order of catching the targets is set in the recording unit, and only a target ID corresponding to a target caught last in the pattern is associated with the position data,

a target pattern detecting unit configured to obtain the target ID corresponding to the target caught last in the pattern when the target pattern is detected is comprised, and

a target pattern position information converting unit configured to obtain the target ID obtained by the target pattern detecting unit, to detect from the recording unit the position data associated with the target ID corresponding to the target caught last, and to output the position data to the FF unit.

5. The mobile unit position detecting apparatus according to claim 1, further comprising

an infrared image capturing device that can shoot an image of the target with an infrared ray, separately from the image capturing device, wherein:

the recording unit records the position data in association with position information about a position of the target; and

a target character position information detecting unit configured to detect position information from an image output from the infrared image capturing device, to detect the position data associated with the position information by referencing the recording unit, and to output the position data to the FF unit is comprised.

6. A mobile unit position detecting method, being executed by, a computer, of sequentially or intermittently shooting, with an image capturing device, a target installed in a vicinity of a route on which a mobile unit can move, and of detecting a position of the mobile unit based on the target in a shot image, the computer including

recording by a recording unit in the computer a target ID, assigned to the target, for identifying a target, and further recording, in association with the target ID, target setting data including image data of the target shot in advance for each target, a threshold value obtained by calculating an aspect ratio based on a shape of the target in the image when the mobile unit approaches the target at a predetermined distance, and position data that indicates a position for which the threshold value is calculated,

causing the computer:

to generate target data by extracting, from the recording unit, the target from an image shot by the image capturing device, for extracting target setting data that best matches the target data, and for obtaining a target ID corresponding to the extracted target setting data,

to detect the position data associated with the target ID obtained from the recording unit,

to track the target in the image shot by the image capturing device, calculating an aspect ratio of the target being tracked in the image, outputting the position data if the aspect ratio is equal to or lower than the threshold value, and

to update a current position of the mobile unit based on the position data.

7. The mobile unit position detecting method according to claim 6, wherein:

the recording unit comprises a table for a infrared image capturing device provided separately from the image capturing device, to shoot an image of the target with an infrared ray and to record in association with the target ID, target setting data including image data of the target, which is shot by the infrared image capturing device in advance for each target, the position data and the threshold value,

the mobile unit position detecting method further comprising;

causing the computer

to make a comparison between brightness levels of images shot by the image capturing device and the infrared image capturing device, for selecting an image capturing device having a higher brightness level, and for switching to image-captured data shot by the selected image capturing device, and

to obtain the target ID and the position data by using the table for the infrared image capturing device if the infrared image capturing device is selected.

8. The mobile unit position detecting method according to claim 6, wherein:

a second image capturing device for shooting a shooting range that is different from a shooting range of the image capturing device and is common to the shooting range of the image capturing device is comprised separately from the image capturing device,

the mobile unit position detecting method further comprising;

causing the computer

to generate a synthesis image by synthesizing image-captured data shot by the image capturing device and the second image capturing device so that common shooting ranges overlap.

9. The mobile unit position detecting method according to claim 6, wherein:

a pattern in which target IDs are recorded in an order of catching the targets is set in the recording unit, and only a target ID corresponding to a target caught last in the pattern is associated with the position data,

the mobile unit position detecting method further comprising;

causing the computer

to obtain the target ID corresponding to the target caught last in the pattern when the target pattern is detected, and

to detect from the recording unit the position data associated with the target ID corresponding to the target caught last.

10. The mobile unit position detecting method according to claim 6, wherein:

the recording unit records the position data in association with position information about a position of the target,

the mobile unit position detecting method further comprising;

causing the computer

to detect position information from an image output from the infrared image capturing device, and for detecting the position data associated with the position information by referencing the recording unit.