JP2013186848A - 車両周辺監視装置 - Google Patents
車両周辺監視装置 Download PDFInfo
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- JP2013186848A JP2013186848A JP2012053962A JP2012053962A JP2013186848A JP 2013186848 A JP2013186848 A JP 2013186848A JP 2012053962 A JP2012053962 A JP 2012053962A JP 2012053962 A JP2012053962 A JP 2012053962A JP 2013186848 A JP2013186848 A JP 2013186848A
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 24
- 238000000605 extraction Methods 0.000 claims abstract description 10
- 239000000284 extract Substances 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 25
- 238000012544 monitoring process Methods 0.000 claims description 20
- 238000000034 method Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 6
- 239000013598 vector Substances 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 3
- 238000002372 labelling Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
-
- 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
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/20—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
【解決手段】頭部候補抽出部101が歩行者頭部候補として、ライト70aを抽出したとき、他車両判定部103が、抽出した前記歩行者頭部候補としてのライト70aの水平位置よりも下方且つ所定範囲内に、前記歩行者頭部候補としてのライト70aよりも面積が大きい水平方向の高輝度領域76を検出したとき、前記歩行者頭部候補としてのライト70aは、他車両Carの一部であると判定する。
【選択図】図6
Description
TTC=dT×Rate/(1−Rate) …(1)
Z=Rate×Vs×dT/(1−Rate) …(2)
14…画像処理ユニット 14c…CPU
14m…記憶部 16、16R、16L…赤外線カメラ
101…頭部候補抽出部 102…他車両候補検出部
103…他車両判定部 106…接触可能性判定部
108…注意喚起出力生成判定部
Claims (5)
- 車両に搭載された赤外線カメラにより取得した画像を用いて車両周辺の物体を検出すると共に、検出した物体の種別を判定する車両周辺監視装置において、
前記画像から、歩行者頭部候補を抽出する頭部候補抽出部と、
抽出した前記歩行者頭部候補よりも下方且つ所定範囲内に、前記歩行者頭部候補よりも面積が大きく、且つ水平方向に所定幅以上の長さを持つ高輝度領域を検出する他車両候補検出部と、
前記他車両候補検出部が、前記高輝度領域を検出したとき、前記歩行者頭部候補が、他車両の一部であると判定する他車両判定部と、
を備えることを特徴とする車両周辺監視装置。 - 請求項1記載の車両周辺監視装置において、
前記他車両判定部は、
前記他車両候補検出部が、前記歩行者頭部候補を、前記画像中の剛体の中に検出したとき、前記剛体を前記他車両と判定する
ことを特徴とする車両周辺監視装置。 - 請求項1又は2に記載の車両周辺監視装置において、
前記他車両候補検出部は、
前記画像から、さらに、エンジンの排気管候補又はタイヤ候補を検出し、
前記他車両判定部は、
前記他車両候補検出部が、前記排気管候補又は前記タイヤ候補よりも上方に前記高輝度領域を検出したとき、前記歩行者頭部候補及び前記排気管候補を含む物体、又は前記歩行者頭部候補及び前記タイヤ候補を含む物体を前記他車両と判定する
ことを特徴とする車両周辺監視装置。 - 請求項1〜3のいずれか1項に記載の車両周辺監視装置において、
前記他車両候補検出部が、さらに、前記画像中、前記歩行者頭部候補の上方に、所定面積以上の他の高輝度領域又は所定面積以上の低輝度領域を検出したとき、
前記他車両判定部は、
前記他車両候補検出部による前記歩行者頭部候補よりも面積が大きい前記水平方向の前記高輝度領域の検出の有無に拘わらず、前記歩行者頭部候補を、前記他車両の一部であると判定する
ことを特徴とする車両周辺監視装置。 - 請求項4に記載の車両周辺監視装置において、
車外温度が第1温度以上の場合には、前記歩行者頭部候補よりも面積が大きい低輝度領域が前記歩行者頭部候補よりも上部に存在するか否かを判定し、車外温度が前記第1温度より低い第2温度以下の場合には、前記歩行者頭部候補よりも面積が大きい高輝度領域が存在するか否かを判定する
ことを特徴とする車両周辺監視装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012053962A JP5529910B2 (ja) | 2012-03-12 | 2012-03-12 | 車両周辺監視装置 |
US13/791,044 US20130235202A1 (en) | 2012-03-12 | 2013-03-08 | Vehicle periphery monitoring apparatus and method of determining type of object for use in vehicle periphery monitoring apparatus |
EP13158347.8A EP2639742A2 (en) | 2012-03-12 | 2013-03-08 | Vehicle periphery monitoring apparatus |
CN2013100766849A CN103303235A (zh) | 2012-03-12 | 2013-03-11 | 车辆周围监测装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012053962A JP5529910B2 (ja) | 2012-03-12 | 2012-03-12 | 車両周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
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JP2013186848A true JP2013186848A (ja) | 2013-09-19 |
JP5529910B2 JP5529910B2 (ja) | 2014-06-25 |
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JP2012053962A Expired - Fee Related JP5529910B2 (ja) | 2012-03-12 | 2012-03-12 | 車両周辺監視装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20130235202A1 (ja) |
EP (1) | EP2639742A2 (ja) |
JP (1) | JP5529910B2 (ja) |
CN (1) | CN103303235A (ja) |
Cited By (2)
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JP2017052498A (ja) * | 2015-09-11 | 2017-03-16 | 株式会社リコー | 画像処理装置、物体認識装置、機器制御システム、画像処理方法およびプログラム |
JP7136589B2 (ja) | 2018-05-18 | 2022-09-13 | 株式会社Fuji | テープ装填装置およびテープ連結方法 |
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2012
- 2012-03-12 JP JP2012053962A patent/JP5529910B2/ja not_active Expired - Fee Related
-
2013
- 2013-03-08 EP EP13158347.8A patent/EP2639742A2/en not_active Withdrawn
- 2013-03-08 US US13/791,044 patent/US20130235202A1/en not_active Abandoned
- 2013-03-11 CN CN2013100766849A patent/CN103303235A/zh active Pending
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JP2017052498A (ja) * | 2015-09-11 | 2017-03-16 | 株式会社リコー | 画像処理装置、物体認識装置、機器制御システム、画像処理方法およびプログラム |
JP7136589B2 (ja) | 2018-05-18 | 2022-09-13 | 株式会社Fuji | テープ装填装置およびテープ連結方法 |
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Publication number | Publication date |
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EP2639742A2 (en) | 2013-09-18 |
CN103303235A (zh) | 2013-09-18 |
JP5529910B2 (ja) | 2014-06-25 |
US20130235202A1 (en) | 2013-09-12 |
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