PROBLEM TO BE SOLVED: To prevent a subject serving as a background from being wrongly detected as an object by a relatively easy-to-use method in a case where a vehicle turns around.SOLUTION: A flow derivation unit 13a is configured to derive an optical flow on the basis of a characteristic point of a photograph image periodically obtained by photographing a periphery of an own vehicle 9 with a camera 2, and a flow selection unit 13b is configured to select, out of the optical flows derived by the flow derivation unit 13a, the optical flow whose length is greater than a determination threshold Th as a processing target, while the flow selection unit 13b is configured to exclude the optical flow whose length is smaller than the determination threshold Th from the processing target as an optical flow pertain to a generated background arising from the turnaround of the own vehicle 9. An object detection unit 13c is configured to detect an object on the basis of the optical flow selected as the processing target by the flow selection unit 13b.
【課題】車両が旋回する場合において背景となる被写体を物体として誤検出することを、比較的簡便な手法で防止する。【解決手段】フロー導出部13aが、自車両9の周辺をカメラ2で撮影して周期的に得られる撮影画像の特徴点に基づいてオプティカルフローを導出する。フロー選択部13bは、フロー導出部13aに導出されたオプティカルフローのうち、長さが判定閾値Thより大となるオプティカルフローを処理対象として選択する。一方で、フロー選択部13bは、長さが判定閾値Thより小となるオプティカルフローを、自車両9の旋回に起因して生じる背景に係るオプティカルフローとして処理対象から除外する。物体検出部13cは、フロー選択部13bに処理対象として選択されたオプティカルフローに基づいて物体を検出する。【選択図】図1
OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, OBJECT DETECTION METHOD AND PROGRAM
物体検出装置、物体検出システム、物体検出方法及びプログラム
2015-06-08
Patent
Electronic Resource
Japanese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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