Object identifying apparatus, moving body control apparatus, and information providing apparatus

• US 9,317,754 B2
• Filed: 12/15/2010
• Issued: 04/19/2016
• Est. Priority Date: 12/25/2009
• Status: Expired due to Fees

• Current Assignee: Ricoh Company Limited
• Original Assignee: Ricoh Company Limited
• Inventors: Hirai, Hideaki, Aoki, Shin, Kobayashi, Masanori, Li, Xue, Kasahara, Ryosuke
• Primary Examiner(s): Kelley, Christopher S
• Assistant Examiner(s): Zhou, Zhihan
• Application Number:
  US13/516,754
• Publication Number:
  US 20120268602A1
• Time in Patent Office: 1,952 Days
• Field of Search: 348/143, 348/148, 348/241, 382/103
• US Class Current: 1/1
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10152 Varying illumination
• CPC Class Codes: G06T 2207/20224 Image subtraction
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/12 Edge-based segmentation
• CPC Class Codes: G06T 7/136 involving thresholding
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 10/145 Illumination specially adapted for pattern recognition, e.g. using gratings
• 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
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

An object identifying apparatus is disclosed, including: an imaging part, and an object identification processing part. The imaging part receives two polarized lights having a different polarization direction included in light reflected from the object existing in the image pickup area and captures two polarization images. The object identification processing part conducts an identification process for identifying the object existing at a place corresponding to each of multiple process areas in the image pickup area by using the two polarization images captured by the imaging part.

Claims

1. A solid object identifying apparatus for identifying a solid object existing in an image pickup area having an outer surface facing towards a different direction than a predetermined plane, said solid object identifying apparatus comprising:

an imaging part configured to receive two polarized lights having a different polarization direction included in light reflected from an object existing in the image pickup area and to capture two polarization images;

a luminance calculating part configured to divide each of the two polarization images captured by the imaging part into predetermined pixels, and to calculate a total luminance value in the two polarization images for each of the predetermined pixels;

a polarized intensity difference calculating part configured to calculate a polarized intensity difference indicating a ratio of a polarized intensity difference value between the two polarization images to the total luminance value, for each of the predetermined pixels;

a relative polarized intensity difference calculating part configured to set the polarized intensity difference calculated by the polarized intensity difference calculating part to be a reference polarized intensity difference in a reference pixel of which a luminance is relatively greater in a pixel corresponding to a reference plane object assumed beforehand to be in a same plane as the predetermined plane, and to calculate a relative difference value between the reference polarized intensity difference and the polarized intensity difference which is calculated by the polarized intensity difference calculating part for a different pixel from the reference pixel; and

a solid object identification processing part configured to;

conduct a solid object identification process for identifying whether or not an object existing at a place corresponding to each of the predetermined pixels in the image pickup area is the solid object, by using the total luminance value calculated by the luminance calculating part and the relative difference value calculated by the relative polarized intensity difference calculating part, as an identification index value, and

conduct a determination process for determining which one of multiple numerical ranges the identification index value belongs to, in which the multiple numerical ranges are defined for each solid objects and a lower luminance portion of the reference plane object existing at a place corresponding to a lower luminance pixel indicating lower luminance in a pixel in which the reference plane object exist, and to conduct a process for identifying an object corresponding to the one of the multiple numerical ranges which is determined in the determination process, so as to conduct the solid object identification process.

2. The solid object identifying apparatus according to claim 1, wherein the imaging part is configured to be equipped with a moving body which moves on a movement surface and to capture the image pickup area including the movement surface from an obliquely upper direction with respect to the movement surface.

3. The solid object identifying apparatus according to claim 1, wherein the solid object identification process is configured to include a material identification process for identifying a material of the object existing at the place corresponding to each of the predetermined pixels in the image pickup area.

4. The solid object identifying apparatus according to claim 3, wherein the material of the object identified by the material identification process includes metal.

5. The solid object identifying apparatus according to claim 1, wherein the imaging part is equipped with a vehicle being a moving body which moves on a road surface being a movement surface.

6. The solid object identifying apparatus according to claim 5, wherein said solid object identification processing part is configured to conduct the solid object identification process for identifying the object of which an outer surface is exposed flush with the road surface.

7. The solid object identifying apparatus according to claim 1, wherein the solid object identification processing part is configured to set the identification index value to be a reference index value.

8. The solid object identifying apparatus according to claim 7, wherein the solid object identification processing part is configured to calculate a relative value with respect to the reference index value of the identification index value for the different pixel from the reference pixel.

9. The solid object identifying apparatus according to claim 8, wherein the solid object identification processing part is configured to identify the object existing at the place corresponding to the different pixel based on the relative value, so as to conduct the solid object identification process.

10. The solid object identifying apparatus according to claim 1, further comprising:

an identification process result storing part configured to store a previous result of the solid object identification process previously conducted by the solid object identification processing part, wherein

the solid object identification processing part uses the identification index value and the previous result of the solid object identification process, which is stored in the identification process result storing part.

11. The solid object identifying apparatus according to claim 1, further comprising:

a shape information storing part configured to store shape information indicating a shape acquired by capturing a predetermined specific object by the imaging part.