JP2005234694A - 車外監視装置 - Google Patents
車外監視装置 Download PDFInfo
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- JP2005234694A JP2005234694A JP2004040227A JP2004040227A JP2005234694A JP 2005234694 A JP2005234694 A JP 2005234694A JP 2004040227 A JP2004040227 A JP 2004040227A JP 2004040227 A JP2004040227 A JP 2004040227A JP 2005234694 A JP2005234694 A JP 2005234694A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 5
- 238000001514 detection method Methods 0.000 claims abstract description 61
- 238000003384 imaging method Methods 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims description 17
- 238000012806 monitoring device Methods 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 5
- 239000007787 solid Substances 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 4
- 238000000605 extraction Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/106—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using night vision cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Image Processing (AREA)
Abstract
【解決手段】 車外の対象を異なる視点で撮像するステレオカメラ3に加え、少なくともステレオカメラ3の車幅方向の視野範囲と重畳する検索範囲で車外の対象の温度を検出する遠赤外線センサ4を設ける。ステレオ画像処理部6において、ステレオカメラ3でステレオ撮像した画像対に基づく立体物の3次元認識を行い、認識した立体物から歩行者候補を抽出する。さらに、歩行者判定部7において、遠赤外線センサ4により歩行者候補と同一方向で検出された温度検出値に基づいて、歩行者候補が実在の歩行者であるか否かの判定を行う。
【選択図】 図1
Description
2 … 車外監視装置
3 … ステレオカメラ(撮像手段)
4 … 遠赤外線センサ(温度検出手段)
5 … 前方情報認識装置
6 … ステレオ画像処理部(立体物認識手段)
7 … 歩行者判定部(歩行者判定手段)
Tn … 温度検出値
Tn0 … 前温度検出値
代理人 弁理士 伊 藤 進
Claims (4)
- 車外の対象を撮像する撮像手段と、
上記各撮像手段で撮像した画像を処理して上記車外の立体物を認識し、該認識した立体物から歩行者候補を抽出する立体物認識手段とを備えた車両の車外監視装置において、
少なくとも上記撮像手段の車幅方向の視野範囲と重畳する検出範囲の温度を検出する温度検出手段と、
上記歩行者候補と同一方向における上記温度検出値の変動に基づいて、上記歩行者候補が歩行者であるか否かの判定を行う歩行者判定手段とを備えたことを特徴とする車外監視装置。 - 上記立体物認識手段は、認識した上記立体物が実空間上で設定範囲幅を有するとき、当該立体物を歩行者候補として抽出することを特徴とする請求項1記載の車外監視装置。
- 上記歩行者判定手段は、温度検出値が前温度検出値よりも設定温度以上高くなった検出方向を歩行者存在の可能性が高い方向として判定し、判定した上記方向に歩行者候補が存在するとき、当該歩行者候補を歩行者として判定することを特徴とする請求項1または請求項2記載の車外監視装置。
- 上記撮像手段は、上記車外を異なる視点で撮像する一対のカメラからなり、上記立体物認識手段は、上記一対のカメラで撮像した画像対に基づいて立体物の3次元認識を行って上記歩行者候補を抽出することを特徴とする請求項1記載の車外監視装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004040227A JP4376653B2 (ja) | 2004-02-17 | 2004-02-17 | 車外監視装置 |
US11/058,305 US7567687B2 (en) | 2004-02-17 | 2005-02-14 | Outside-vehicle monitoring system |
DE602005000532T DE602005000532T2 (de) | 2004-02-17 | 2005-02-17 | Überwachungssystem für den Aussenbereich eines Fahrzeugs |
EP05003432A EP1564080B1 (en) | 2004-02-17 | 2005-02-17 | Outside-vehicle monitoring system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004040227A JP4376653B2 (ja) | 2004-02-17 | 2004-02-17 | 車外監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005234694A true JP2005234694A (ja) | 2005-09-02 |
JP4376653B2 JP4376653B2 (ja) | 2009-12-02 |
Family
ID=34697990
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004040227A Expired - Fee Related JP4376653B2 (ja) | 2004-02-17 | 2004-02-17 | 車外監視装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7567687B2 (ja) |
EP (1) | EP1564080B1 (ja) |
JP (1) | JP4376653B2 (ja) |
DE (1) | DE602005000532T2 (ja) |
Cited By (5)
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DE102004039095A1 (de) * | 2004-08-11 | 2006-02-23 | Daimlerchrysler Ag | Verfahren zur Detektierung von Fußgängern |
JP2007316790A (ja) * | 2006-05-24 | 2007-12-06 | Nissan Motor Co Ltd | 歩行者検出装置および歩行者検出方法 |
JP2008130059A (ja) * | 2006-11-27 | 2008-06-05 | Fuji Heavy Ind Ltd | 先行車両離脱判定装置 |
EP2333742A1 (en) | 2009-12-10 | 2011-06-15 | Hitachi, Ltd. | Vehicle support systems for pedestrians to cross roads and support methods for pedestrians to cross roads |
DE102013216490A1 (de) * | 2013-08-20 | 2015-02-26 | Continental Automotive Gmbh | System zur Bereitstellung eines Signals für ein Objekt in der Umgebung des Systems |
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- 2005-02-17 EP EP05003432A patent/EP1564080B1/en not_active Ceased
- 2005-02-17 DE DE602005000532T patent/DE602005000532T2/de active Active
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DE102004039095A1 (de) * | 2004-08-11 | 2006-02-23 | Daimlerchrysler Ag | Verfahren zur Detektierung von Fußgängern |
DE102004039095B4 (de) * | 2004-08-11 | 2008-09-18 | Daimler Ag | Verfahren zur Detektierung von Fußgängern |
JP2007316790A (ja) * | 2006-05-24 | 2007-12-06 | Nissan Motor Co Ltd | 歩行者検出装置および歩行者検出方法 |
JP2008130059A (ja) * | 2006-11-27 | 2008-06-05 | Fuji Heavy Ind Ltd | 先行車両離脱判定装置 |
EP2333742A1 (en) | 2009-12-10 | 2011-06-15 | Hitachi, Ltd. | Vehicle support systems for pedestrians to cross roads and support methods for pedestrians to cross roads |
US8749401B2 (en) | 2009-12-10 | 2014-06-10 | Hitcha, Ltd. | Vehicle support systems for pedestrians to cross roads and support methods for pedestrians to cross roads |
US8957789B2 (en) | 2009-12-10 | 2015-02-17 | Hitachi, Ltd. | Vehicle support systems for pedestrians to cross roads and support methods for pedestrians to cross roads |
DE102013216490A1 (de) * | 2013-08-20 | 2015-02-26 | Continental Automotive Gmbh | System zur Bereitstellung eines Signals für ein Objekt in der Umgebung des Systems |
DE102013216490B4 (de) * | 2013-08-20 | 2021-01-28 | Continental Automotive Gmbh | System zur Bereitstellung eines Signals für ein Objekt in der Umgebung des Systems |
Also Published As
Publication number | Publication date |
---|---|
US7567687B2 (en) | 2009-07-28 |
JP4376653B2 (ja) | 2009-12-02 |
EP1564080A1 (en) | 2005-08-17 |
DE602005000532D1 (de) | 2007-03-22 |
DE602005000532T2 (de) | 2007-10-25 |
US20050231339A1 (en) | 2005-10-20 |
EP1564080B1 (en) | 2007-02-07 |
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