JP2012198857A5

JP2012198857A5 -

Info

Publication number: JP2012198857A5
Application number: JP2011064048A
Authority: JP
Filing date: 2011-03-23
Publication date: 2013-06-20
Anticipated expiration: 2031-03-23

Claims

An imaging unit (2) that is mounted on the vehicle (10) and sequentially acquires images obtained by photographing the periphery of the vehicle (10);
A feature point extraction unit (432) that extracts at least one feature point from each of the two images acquired by the imaging unit (2) at different times;
Among the feature points extracted from the two images, two feature points related to the same object are associated with each other, and a difference in position on the image between the associated feature points is obtained. An observation movement vector calculation unit (435) for obtaining an observation movement vector representing the movement amount and movement direction above;
For each of the feature points extracted from one of the two images, the object on the image is caused by the movement of the imaging unit (2) between the respective acquisition times of the two images. A minimum apparent movement vector calculation unit (434) for calculating a minimum value of an apparent movement vector representing a movement amount and a movement direction;
For each of the feature points extracted from one of the two images, a movement vector correction unit (436) that calculates a correction movement vector by subtracting the minimum value of the apparent movement vector from the observed movement vector. When,
When the corrected movement vector for at least one of the feature points extracted from one of the two images includes a movement component in a direction approaching the traveling direction of the vehicle (10). And a determination unit (437) that determines that the object is a moving object approaching the vehicle;
An approaching object detection device comprising:

The minimum apparent movement vector calculation unit (434) obtains the position of the ground on the line of sight passing through the feature point extracted from one of the two images from the imaging unit (2), and The apparent movement vector on the image with respect to the position of the ground due to the movement of the imaging unit (2) between the acquisition times of two images is set as the minimum value of the apparent movement vector. The approaching object detection device described in 1.

The determination unit (437) detects the feature point corresponding to the correction vector including a moving component in a direction approaching the traveling direction of the vehicle (10) as an approaching object candidate point, and corresponds to the object The approaching object detection device according to claim 1, wherein the object is determined to be a moving object approaching the vehicle only when there are a plurality of approaching object candidate points.

The display control part (438) according to any one of claims 1 to 3, further comprising a display control part (438) for causing the display part (3) to display an image representing the presence of the object determined to be a moving object approaching the vehicle (10). The approaching object detection device according to one item .

Sequentially acquiring images taken around the vehicle (10) by the imaging unit (2) mounted on the vehicle (10);
Extracting feature points from the two images acquired by the imaging unit (2) at different times;
Among the feature points extracted from the two images, two feature points related to the same object are associated with each other, and a difference in position on the image between the associated feature points is obtained. Obtaining an observed movement vector representing the amount and direction of movement above;
For each of the feature points extracted from one of the two images, the object on the image is caused by the movement of the imaging unit (2) between the respective acquisition times of the two images. Calculating a minimum value of an apparent movement vector representing a movement amount and a movement direction;
For each of the feature points extracted from one of the two images, calculating a corrected movement vector by subtracting the minimum value of the apparent movement vector from the observed movement vector;
When the corrected movement vector for at least one of the feature points extracted from one of the two images includes a movement component in a direction approaching the traveling direction of the vehicle (10). And determining that the object is a moving object approaching the vehicle;
An approaching object detection method comprising: