To provide a mobile object detection device and a mobile object detection method which can increase the detection accuracy of a mobile object.SOLUTION: In an on-vehicle mobile object detection system 1, a mobile object detection device 4 comprises: an optical flow calculation unit 24 which calculates a plurality of optical flows on the basis of two photographed images that have temporarily preceding and succeeding imaging timings; a perspective projection matrix calculation unit 26 which calculates a perspective projection matrix that converts three-dimensional coordinates of a real space into image coordinates of the photographed image on the basis of the plurality of optical flows; a re-projection error calculation unit 28 which calculates a re-projection error being a difference between an end point corresponding position at the time when projecting each end point of the plurality of optical flows to the three-dimensional coordinates and an end point re-projection position at which the end point corresponding positions are re-projected by using the perspective projection matrix to the image coordinates of the photographed image; and a mobile object detection unit 30 which specifies the optical flow corresponding to the mobile object in the photographed image on the basis of the re-projection error of each of the optical flows.SELECTED DRAWING: Figure 1

    【課題】移動物体の検出精度を高めることができる移動物体検出装置及び移動物体検出方法を提供する。【解決手段】車載移動物体検出システム1において、移動物体検出装置4は、撮影タイミングが時系列的に前後する2つの撮影画像に基づいて複数のオプティカルフローを算出するオプティカルフロー算出部24と、実空間の3次元座標を撮影画像の画像座標に変換する透視投影行列を、複数のオプティカルフローに基づいて算出する透視投影行列算出部26と、複数のオプティカルフローの各端点を3次元座標に投影したときの端点対応位置と、これらの端点対応位置を撮影画像の画像座標に透視投影行列を用いて再投影した端点再投影位置との差である再投影誤差を算出する再投影誤差算出部28と、オプティカルフローのそれぞれの再投影誤差に基づいて、撮影画像に写っている移動物体に対応するオプティカルフローを特定する移動物体検出部30と、を備える。【選択図】図1


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    Title :

    MOBILE OBJECT DETECTION DEVICE AND MOBILE OBJECT DETECTION METHOD


    Additional title:

    移動物体検出装置、及び移動物体検出方法


    Contributors:
    OHASHI AKIRA (author) / UMEDA KAZUNORI (author) / JI YONGHOON (author) / IIDA HIROTAKA (author)

    Publication date :

    2021-09-16


    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 / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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