PROBLEM TO BE SOLVED: To precisely determine whether an object included in a photographed image is a moving object regardless of a positional relationship between an own vehicle and surrounding objects.SOLUTION: A moving object determination device 1 comprises an image feature extraction unit 20 extracting a feature point 9 from an image, a first optical flow calculation unit 30 calculating for each feature point 9 an optical flow indicating the extracted feature point 9, a vehicle locus calculation unit 50 calculating a running locus of an own vehicle 8, a feature point three-dimensional position calculation unit 60 calculating for each feature point 9 a space feature point 14 from the running locus of the optical flow and the own vehicle 8, a second optical flow calculation unit 70 calculating for each feature point 9 an optical flow of the space feature point 14 corresponding to the feature point 9 using the running locus of the own vehicle 8 and the space feature point 14, and a moving object determination unit 80 comparing the optical flow indicating the feature point 9 with the optical flow of the space feature point 9 to determine whether the extracted optical flow is an optical flow of a moving object.SELECTED DRAWING: Figure 1

    【課題】自車両と周囲の物体の位置関係に関わらずに、撮影した画像に含まれる物体が移動体か否かを精度よく判定する。【解決手段】移動物体判定装置1は、画像から特徴点9を抽出する画像特徴抽出部20と、抽出した特徴点9を示すオプティカルフローを特徴点9毎に算出する第1オプティカルフロー算出部30と、自車両8の走行軌跡を算出する車両軌跡算出部50と、オプティカルフロー及び自車両8の走行軌跡から空間特徴点14を特徴点9毎に算出する特徴点3次元位置算出部60と、自車両8の走行軌跡及び空間特徴点14を用いて、特徴点9に対応した空間特徴点14のオプティカルフローを特徴点9毎に算出する第2オプティカルフロー算出部70と、特徴点9を示すオプティカルフローと空間特徴点9のオプティカルフローとを比較して、抽出したオプティカルフローが移動物体のオプティカルフローか否かを判定する移動物体判定部80を備える。【選択図】図1


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    Title :

    MOVING OBJECT DETERMINATION DEVICE, AND MOVING OBJECT DETERMINATION PROGRAM


    Additional title:

    移動物体判定装置、及び移動物体判定プログラム


    Contributors:

    Publication date :

    2018-11-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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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