To provide an approaching object detecting device for detecting an approaching object with a less calculation amount as compared with a detection method using a two-dimensional optical flow.SOLUTION: The approaching object detecting device includes a normal-line calculating unit, a pixel value totaling unit, a one-dimensional optical flow calculating unit, and an approaching body detecting unit. The normal-line calculating unit calculates a plurality of normal lines respectively passing through a plurality of points on an approximate curve of a reference line. The pixel value totaling unit totals pixel values on the plurality of normal lines for each normal line for each of the first and second input image data, and associates the sum of the pixel values on the plurality of normal lines with distances along the approximate curve from the points on the approximate curve through which the normal lines pass to an imaging device to generate first and second distributions of the pixel value sum. The one-dimensional optical flow calculating unit calculates a one-dimensional optical flow representing, as a group of motion vectors, the motion of the second distribution with respect to the first distribution as a reference. The approaching object detecting unit detects an approaching object to the imaging device based on the one-dimensional optical flow.SELECTED DRAWING: Figure 1

    【課題】2次元オプティカルフローを用いた検出法に比べて少ない計算量で接近体を検出する接近体検出装置を提供する。【解決手段】接近体検出装置は、法線算出部と、画素値集計部と、1次元オプティカルフロー算出部と、接近体検出部とを含む。法線算出部は、基準線の近似曲線上の複数の点をそれぞれ通る複数の法線を算出する。画素値集計部は、第1および第2の入力画像データのそれぞれについて、複数の法線上の画素値を法線毎に集計し、複数の法線上の画素値和を当該法線が通る近似曲線上の点から撮影装置までの近似曲線に沿った距離に対応付け、画素値和の第1および第2の分布を生成する。1次元オプティカルフロー算出部は、第1の分布を基準とする第2の分布の動きを動きベクトル群で表す1次元オプティカルフローを算出する。接近体検出部は、1次元オプティカルフローに基づいて、撮影装置への接近体を検出する。【選択図】図1


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    Titel :

    APPROACHING OBJECT DETECTING DEVICE


    Weitere Titelangaben:

    接近体検出装置


    Beteiligte:

    Erscheinungsdatum :

    2018-12-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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