JP2005078377A5 - - Google Patents

Claims (15)

A block difference value calculating means for calculating a block difference value obtained for each block composed of a plurality of pixels, the difference between adjacent images taken on the time axis imaged by the imaging means;
A moving object detecting device comprising: a block having a block difference value equal to or greater than a predetermined threshold value as a moving object candidate block; and a moving object detecting unit that detects a block connection area in which the moving object candidate blocks are adjacent to each other as a moving object area. . The moving object detection means determines whether or not the number of blocks included in the block connection area is equal to or greater than a predetermined threshold, and sets the block connection area that is equal to or greater than the predetermined threshold as the moving object area. The moving object detection apparatus according to claim 1. The said moving body detection means detects the largest area | region as the said moving body area | region, when there are two or more said block connection areas. The moving body detection apparatus of Claim 1 characterized by the above-mentioned. 2. The moving object according to claim 1, wherein the moving object detection unit ends the moving object detection without setting the moving object area as a detection target when the size of the moving object area in the image is equal to or larger than a predetermined threshold. Detection device. The moving object detection means ends the moving object detection without setting the moving object region as a detection target when the horizontal or vertical size of the moving object region is equal to or larger than a predetermined threshold value. Moving object detection device. The moving object detection device according to claim 1, wherein the moving object detection unit ends moving object detection without setting the moving object region as a detection target when the number of moving object candidate blocks is equal to or greater than a predetermined threshold. A block difference value calculating step for calculating a block difference value obtained for each block composed of a plurality of pixels, the difference between adjacent images taken on the time axis imaged by the imaging means;
A moving object detection method comprising: detecting a block having a block difference value equal to or greater than a predetermined threshold as a moving object candidate block, and detecting a block connection area formed by adjoining the moving object candidate blocks as a moving object area. . In the moving object detection step, it is determined whether or not the number of blocks included in the block connection area is equal to or greater than a predetermined threshold, and the block connection area that is equal to or greater than the predetermined threshold is defined as the moving object area. The moving object detection method according to claim 7. 8. The moving object detection method according to claim 7, wherein in the moving object detection step, when there are a plurality of the block connection areas, the largest area is detected as the moving object area. 8. The moving object according to claim 7, wherein in the moving object detection step, when the size of the moving object region in the image is equal to or greater than a predetermined threshold, the moving object region is not detected and the moving object detection is terminated. Detection method. 8. The moving object detection step ends the moving object detection without setting the moving object region as a detection target when the horizontal or vertical size of the moving object region is equal to or greater than a predetermined threshold value. Motion detection method. 8. The moving object detection method according to claim 7, wherein, in the moving object detection step, when the number of moving object candidate blocks is equal to or greater than a predetermined threshold, the moving object detection is terminated without setting the moving object region as a detection target. In a robotic device that autonomously determines and expresses actions,
An imaging means for capturing an image;
Moving object detection means for detecting a moving object based on a difference between adjacent images taken on the time axis imaged by the imaging means;
The moving object detecting means includes a block difference value calculating means for calculating a block difference value obtained by calculating a difference between the images for each block including a plurality of pixels, and a block having the block difference value equal to or larger than a predetermined threshold. A robot apparatus comprising: a moving object detection unit configured to detect a block connection area formed by adjoining moving object candidate blocks as a moving object area. The robot apparatus according to claim 13, further comprising a control unit that reflects a detection result of the moving object detection unit in the action. The robot apparatus according to claim 14 , wherein the control means develops different behaviors according to the detected size of the moving object region.