To provide an inexpensive and highly safe moving object detection device and moving object detection method that can detect moving objects from motion images of a monocular camera with high accuracy and quickly.SOLUTION: A representative configuration of a moving object detection device according to the present invention comprises a moving object detection unit that sets a detection frame to a moving object of a frame image. The moving object detection unit is configured to: extract a foreground pixel from a current frame, using a background differential method; determine a frame surrounding the foreground pixel as a primary candidate frame; acquire the detection frame of a previous frame from a storage unit; determine, of the primary candidate frames, the primary candidate frame overlapping the detection frame of the previous frame in an area more than a prescribed ratio as a secondary candidate frame; group the secondary candidate frames overlapping the detection frame of the previous frame, of the secondary candidate frames; determine, of the grouped secondary candidate frames, the secondary candidate frame overlapping the detection frame thereof in the area more than prescribed ratio in a y-axis direction as an integrated detection frame; and determine the secondary candidate frame non-overlapping the detection frame thereof in the area more than prescribed ratio in the y-axis direction as a separated detection frame.SELECTED DRAWING: Figure 6
【課題】単眼カメラの動画像から移動物体を高い精度で高速に検出することが可能な、安価で安全性の高い移動物体検出装置および移動物体検出方法を提供する。【解決手段】本発明にかかる移動物体検出装置の代表的な構成は、フレーム画像の移動物体に検出枠を設定する移動物体検出部を備え、移動物体検出部は、現フレームから背景差分法を用いて前景画素を抽出し、前景画素を囲う枠を1次候補枠とし、記憶部から前フレームの検出枠を取得し、1次候補枠のうち、前フレームの検出枠と面積が所定以上重なるものを2次候補枠とし、2次候補枠のうち、同じ前フレームの検出枠と重なるものをグループ化し、グループ化された2次候補枠のうち、y軸方向に所定以上重なるものは統合した検出枠とし、y軸方向に所定以上重ならないものは分離した検出枠とすることを特徴とする。【選択図】図6
MOVING OBJECT DETECTION DEVICE, AND MOVING OBJECT DETECTION METHOD
移動物体検出装置および移動物体検出方法
2019-04-04
Patent
Electronic Resource
Japanese
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