JP4611919B2 - Pedestrian recognition device - Google Patents

Pedestrian recognition device Download PDF

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JP4611919B2
JP4611919B2 JP2006080891A JP2006080891A JP4611919B2 JP 4611919 B2 JP4611919 B2 JP 4611919B2 JP 2006080891 A JP2006080891 A JP 2006080891A JP 2006080891 A JP2006080891 A JP 2006080891A JP 4611919 B2 JP4611919 B2 JP 4611919B2
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いずみ 近藤
弘之 小池
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Honda Motor Co Ltd
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Description

この発明は、歩行者認識装置に関する。   The present invention relates to a pedestrian recognition device.

従来、例えば赤外線カメラと可視カメラとを備え、各カメラの撮影により得られた画像に二値化処理を行い、二値化処理後の各画像データ同士の差分により構成される差分画像データに対して、歩行者を対象としたパターンマッチングの認識処理を行うことで、赤外光量が同等の歩行者と歩行者以外の物体とを、特に歩行者以外の物体の自発光量に基づき判別し、夜間時において歩行者を検出する装置が知られている（例えば、特許文献１参照）。
特開平１１−２１５４８７号公報 Conventionally, for example, an infrared camera and a visible camera are provided, and binarization processing is performed on an image obtained by photographing with each camera, and difference image data configured by differences between the respective image data after binarization processing is performed. By performing pattern matching recognition processing for pedestrians, pedestrians with the same amount of infrared light and objects other than pedestrians are discriminated based on the amount of light emitted from objects other than pedestrians in particular. Devices that detect pedestrians at times are known (see, for example, Patent Document 1).
JP 11-215487 A

ところで、上記従来技術の一例に係る装置によれば、差分画像データに対するパターンマッチングの認識処理の認識精度は、可視カメラの感度に応じて変化することになり、夜間時であっても、照明等によって相対的に明るい環境下においては、歩行者と歩行者以外の物体とを的確に判別することが困難となり、歩行者を検出することが困難となる虞がある。
本発明は上記事情に鑑みてなされたもので、歩行者を適切に認識することが可能な歩行者認識装置を提供することを目的としている。 By the way, according to the device according to an example of the above-described prior art, the recognition accuracy of the pattern matching recognition process for the difference image data changes according to the sensitivity of the visible camera, and the illumination etc. Therefore, in a relatively bright environment, it may be difficult to accurately distinguish between a pedestrian and an object other than the pedestrian, and it may be difficult to detect the pedestrian.
This invention is made | formed in view of the said situation, and it aims at providing the pedestrian recognition apparatus which can recognize a pedestrian appropriately.

上記課題を解決して係る目的を達成するために、請求項１に記載の本発明の歩行者認識装置は、自車両の外界に存在する物体を撮像する赤外線カメラ（例えば、実施の形態での赤外線カメラ１１Ｌａ，１１Ｒａ）および可視カメラ（例えば、実施の形態での可視カメラ１１Ｖａ）と、前記各カメラの撮像により得られた画像から歩行者候補を含む領域を抽出する抽出手段（例えば、実施の形態でのステップＳ０２）と、前記抽出手段により抽出された前記領域において前記歩行者候補を対象としたエッジを検出するエッジ検出手段（例えば、実施の形態でのステップＳ０５）と、前記エッジ検出手段により検出された各前記画像での前記エッジ同士を比較する比較手段（例えば、実施の形態でのステップＳ０５）と、前記比較手段による比較結果に基づき、前記可視カメラの撮像により得られた可視画像から抽出された前記歩行者候補を含む領域の色情報を識別する色情報識別手段（例えば、実施の形態でのステップＳ０７）と、前記色情報識別手段により識別された前記色情報に基づき前記歩行者候補が歩行者であるか否かを判定する判定手段（例えば、実施の形態でのステップＳ０６，ステップＳ０８）とを備えることを特徴としている。   In order to solve the above-described problems and achieve the object, a pedestrian recognition apparatus according to the present invention is an infrared camera that captures an image of an object existing in the outside of the host vehicle (for example, in the embodiment). Infrared cameras 11La, 11Ra) and a visible camera (for example, the visible camera 11Va in the embodiment), and extraction means for extracting a region including a pedestrian candidate from an image obtained by imaging of each camera (for example, implementation) Step S02) in the form, edge detection means (for example, step S05 in the embodiment) for detecting an edge targeted for the pedestrian candidate in the region extracted by the extraction means, and the edge detection means Comparison means for comparing the edges in each of the images detected by (for example, step S05 in the embodiment) and comparison by the comparison means Based on the results, color information identifying means (for example, step S07 in the embodiment) for identifying color information of an area including the pedestrian candidate extracted from the visible image obtained by imaging of the visible camera, And determining means for determining whether or not the pedestrian candidate is a pedestrian based on the color information identified by the color information identifying means (for example, step S06 and step S08 in the embodiment). It is said.

上記の歩行者認識装置によれば、赤外線カメラおよび可視カメラの撮影により得られた各画像上で検出されたエッジ同士の比較結果に加えて、可視画像上で歩行者候補を含む領域の色情報に基づいて、歩行者候補が歩行者であるか否かを判定することにより、例えば夜間時に照明等によって相対的に明るい環境下においても、歩行者を適切に認識することができる。   According to the pedestrian recognition device described above, in addition to the comparison result between the edges detected on the images obtained by the photographing of the infrared camera and the visible camera, the color information of the region including the pedestrian candidate on the visible image Based on the above, by determining whether or not the pedestrian candidate is a pedestrian, it is possible to appropriately recognize the pedestrian even in a relatively bright environment such as lighting at night.

以上説明したように、本発明の歩行者認識装置によれば、赤外線カメラおよび可視カメラの撮影により得られた各画像上で検出されたエッジ同士の比較結果に加えて、可視画像上で歩行者候補を含む領域の色情報に基づいて、歩行者候補が歩行者であるか否かを判定することにより、歩行者を適切に認識することができる。   As described above, according to the pedestrian recognition device of the present invention, in addition to the comparison result of the edges detected on each image obtained by the photographing of the infrared camera and the visible camera, the pedestrian on the visible image. A pedestrian can be appropriately recognized by determining whether or not the pedestrian candidate is a pedestrian based on the color information of the region including the candidate.

以下、本発明の一実施形態に係る歩行者認識装置について添付図面を参照しながら説明する。
本実施の形態による歩行者認識装置１０は、例えば図１に示すように、外界センサ１１と、照度センサ１２と、処理装置１３と、表示装置１４とを備えて構成されている。
さらに、処理装置１３は、例えば歩行者候補検出部２１と、外部照度判定部２２と、歩行者検知確定部２３とを備えて構成されている。 Hereinafter, a pedestrian recognition device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
A pedestrian recognition device 10 according to the present embodiment includes an external sensor 11, an illuminance sensor 12, a processing device 13, and a display device 14, as shown in FIG.
Furthermore, the processing device 13 includes, for example, a pedestrian candidate detection unit 21, an external illuminance determination unit 22, and a pedestrian detection determination unit 23.

外界センサ１１は、例えば赤外線領域にて撮像可能なカメラからなる各１対の赤外線カメラ１１Ｌａ，１１Ｒａおよび画像処理部１１Ｌｂ，１１Ｒｂと、例えば可視光領域にて撮像可能なＣＣＤカメラやＣＭＯＳカメラ等からなる可視カメラ１１Ｖａおよび画像処理部１１Ｖｂとを備えて構成されている。
そして、各画像処理部１１Ｌｂ，１１Ｒｂ，１１Ｖｂは、各カメラ１１Ｌａ，１１Ｒａ，１１Ｖａにより撮影して得た自車両の進行方向の外界の各画像に対して、例えばフィルタリングや二値化処理等の所定の画像処理を行い、二次元配列の画素からなる各画像データを生成して処理装置１３へ出力する。
照度センサ１２は自車両の外界の照度を検出する。 The external sensor 11 includes, for example, a pair of infrared cameras 11La and 11Ra and image processing units 11Lb and 11Rb each including a camera that can capture an image in the infrared region, and a CCD camera or a CMOS camera that can capture an image in the visible light region, for example. A visible camera 11Va and an image processing unit 11Vb.
Each of the image processing units 11Lb, 11Rb, and 11Vb performs predetermined processing such as filtering and binarization processing on each image of the external world in the traveling direction of the host vehicle obtained by photographing with each of the cameras 11La, 11Ra, and 11Va. The image processing is performed, and each image data composed of the pixels of the two-dimensional array is generated and output to the processing device 13.
The illuminance sensor 12 detects the illuminance of the outside of the host vehicle.

処理装置１３の歩行者候補検出部２１は、外界センサ１１から入力される画像データに基づき、例えば人体を対象とする所定の認識処理により、自車両の進行方向での１対の赤外線カメラ１１Ｌａ，１１Ｒａの各検知エリア内に存在する物体のうち歩行者候補を検出する。そして、各画像処理部１１Ｌｂ，１１Ｒｂから入力される１対の画像データに対して、車室内に所定間隔を隔てて設置された１対の赤外線カメラ１１Ｌａ，１１Ｒａ同士間の距離と、１対の画像データ上において検出された歩行者候補の視差とに基づく三角測量法等により、歩行者候補までの距離を算出する。
外部照度判定部２２は、照度センサ１２により検出された自車両の外界の照度（外部照度）が所定閾値以上であるか否かを判定する。 The pedestrian candidate detection unit 21 of the processing device 13 is based on the image data input from the external sensor 11 and performs a pair of infrared cameras 11La in the traveling direction of the host vehicle, for example, by a predetermined recognition process for a human body. A pedestrian candidate is detected among the objects which exist in each detection area of 11Ra. For a pair of image data input from the image processing units 11Lb and 11Rb, a distance between the pair of infrared cameras 11La and 11Ra installed at a predetermined interval in the vehicle interior and a pair of images. The distance to the pedestrian candidate is calculated by a triangulation method based on the parallax of the pedestrian candidate detected on the image data.
The external illuminance determination unit 22 determines whether or not the external illuminance (external illuminance) of the host vehicle detected by the illuminance sensor 12 is equal to or greater than a predetermined threshold.

歩行者検知確定部２３は、例えば外部照度判定部２２による判定結果において、自車両の外界の照度が所定照度未満であると判定された場合、つまり相対的に暗い環境下においては、可視画像の画像データ上における歩行者候補の輝度値が、所定閾値以下であるか否かの判定結果に応じて、歩行者候補が歩行者であるか否かを判定する。   For example, in the determination result by the external illuminance determination unit 22, the pedestrian detection determination unit 23 determines that the illuminance of the external environment of the vehicle is less than the predetermined illuminance, that is, in a relatively dark environment Whether or not the pedestrian candidate is a pedestrian is determined according to a determination result of whether or not the luminance value of the pedestrian candidate on the image data is equal to or less than a predetermined threshold value.

また、歩行者検知確定部２３は、例えば外部照度判定部２２による判定結果において、自車両の外界の照度が所定照度以上であると判定された場合、つまり相対的に明るい環境下においては、可視画像の画像データおよび赤外線画像の画像データにおいて歩行者候補を含む領域を抽出し、各領域において歩行者候補を対象としたエッジを検出する。
そして、各画像データで検出したエッジ同士の差分が所定閾値以下であるか否か、つまり、各画像データ上の歩行者候補の形状が似ているか否かを判定すると共に、可視画像の画像データにおいて抽出した歩行者候補を含む領域の色情報から、例えば同等色の色情報を有する画素により構成される適宜の領域（同等色領域）の面積が、所定面積未満であるか否かを判定する。そして、これらの判定結果に応じて、歩行者候補が歩行者であるか否かを判定する。 Further, the pedestrian detection determination unit 23 is visible when, for example, the determination result by the external illuminance determination unit 22 determines that the external illuminance of the host vehicle is equal to or greater than the predetermined illuminance, that is, in a relatively bright environment. A region including a pedestrian candidate is extracted from the image data of the image and the image data of the infrared image, and an edge targeting the pedestrian candidate is detected in each region.
Then, it is determined whether or not the difference between the edges detected in each image data is equal to or less than a predetermined threshold, that is, whether or not the shape of the pedestrian candidate on each image data is similar, and the image data of the visible image Whether or not the area of an appropriate region (equivalent color region) composed of pixels having color information of the same color is less than a predetermined area is determined from the color information of the region including the pedestrian candidate extracted in . And according to these determination results, it is determined whether a pedestrian candidate is a pedestrian.

本実施の形態による歩行者認識装置１０は上記構成を備えており、次に、この歩行者認識装置１０の動作について説明する。
先ず、図２に示すステップＳ０１においては、外界センサ１１から出力される赤外線画像の画像データを取得する。
次に、ステップＳ０２においては、取得した赤外線画像上において、例えば人体を対象とする所定の認識処理により、歩行者候補を抽出する。 The pedestrian recognition device 10 according to the present embodiment has the above-described configuration. Next, the operation of the pedestrian recognition device 10 will be described.
First, in step S01 shown in FIG. 2, the image data of the infrared image output from the external sensor 11 is acquired.
Next, in step S02, pedestrian candidates are extracted on the acquired infrared image by, for example, a predetermined recognition process for a human body.

次に、ステップＳ０３においては、外界センサ１１から出力される可視画像の画像データを取得する。
そして、ステップＳ０４においては、照度センサ１２により検出された自車両の外界の照度（外部照度）が所定閾値以上であるか否かを判定する。
この判定結果が「ＮＯ」の場合には、後述するステップＳ０９に進む。
一方、この判定結果が「ＹＥＳ」の場合には、ステップＳ０５に進む。 Next, in step S03, image data of a visible image output from the external sensor 11 is acquired.
In step S04, it is determined whether or not the external illuminance (external illuminance) of the host vehicle detected by the illuminance sensor 12 is greater than or equal to a predetermined threshold value.
If this determination is “NO”, the flow proceeds to step S 09 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S 05.

そして、ステップＳ０５においては、可視画像の画像データおよび赤外線画像の画像データにおいて歩行者候補を含む領域を抽出し、各領域において歩行者候補を対象としたエッジを検出する。そして、各画像データで検出したエッジ同士の差分（エッジ差分）が所定閾値以下であるか否かを判定する。
この判定結果が「ＮＯ」の場合には、ステップＳ０６に進み、このステップＳ０６においては、歩行者候補は歩行者ではないと判定して、一連の処理を終了する。
一方、この判定結果が「ＹＥＳ」の場合には、ステップＳ０７に進む。 In step S05, an area including a pedestrian candidate is extracted from the image data of the visible image and the image data of the infrared image, and an edge targeting the pedestrian candidate is detected in each area. Then, it is determined whether or not the difference between the edges detected in each image data (edge difference) is equal to or less than a predetermined threshold value.
If this determination is “NO”, the flow proceeds to step S 06, and in this step S 06, it is determined that the pedestrian candidate is not a pedestrian, and the series of processing ends.
On the other hand, if this determination is “YES”, the flow proceeds to step S07.

そして、ステップＳ０７においては、可視画像の画像データ上において抽出した歩行者候補を含む領域の色情報から、同等色の色情報を有する画素により構成される適宜の領域（同等色領域）の面積が、所定面積未満であるか否かを判定する。
この判定結果が「ＮＯ」の場合には、上述したステップＳ０６に進む。
一方、この判定結果が「ＹＥＳ」の場合には、ステップＳ０８に進み、このステップＳ０８においては、歩行者候補は歩行者であると判定して、一連の処理を終了する。 In step S07, the area of an appropriate region (equivalent color region) composed of pixels having color information of the same color is obtained from the color information of the region including the pedestrian candidate extracted on the image data of the visible image. It is determined whether it is less than a predetermined area.
If this determination is “NO”, the flow proceeds to step S 06 described above.
On the other hand, if this determination is “YES”, the flow proceeds to step S08, where the pedestrian candidate is determined to be a pedestrian, and the series of processes is terminated.

また、ステップＳ０９においては、可視画像の画像データ上における歩行者候補の輝度値が、所定閾値以下であるか否かを判定する。
この判定結果が「ＮＯ」の場合には、ステップＳ１０に進み、このステップＳ１０においては、歩行者候補は歩行者ではないと判定して、一連の処理を終了する。
一方、この判定結果が「ＹＥＳ」の場合には、ステップＳ１１に進み、このステップＳ１１においては、歩行者候補は歩行者であると判定して、一連の処理を終了する。 In step S09, it is determined whether the luminance value of the pedestrian candidate on the image data of the visible image is equal to or less than a predetermined threshold value.
If this determination is “NO”, the flow proceeds to step S 10, and in this step S 10, it is determined that the pedestrian candidate is not a pedestrian, and the series of processing ends.
On the other hand, if the determination result is “YES”, the process proceeds to step S11, in which the pedestrian candidate is determined to be a pedestrian, and the series of processing ends.

上述したように、本実施の形態による歩行者認識装置１０によれば、先ず、照度センサ１２により検出される自車両の外界の照度（外部照度）に応じて、歩行者候補は歩行者であるか否かを判定する際の判定処理を切り換えることで、例えば夜間時等における環境下の明るさに拘わらずに、歩行者を適切に認識することができる。
しかも、例えば夜間時であっても相対的に明るい環境下においては、赤外線カメラ１１Ｌａ，１１Ｒａおよび可視カメラ１１Ｖａの撮影により得られた各画像上で検出されたエッジ同士の比較結果に加えて、可視画像上で歩行者候補を含む領域の色情報に基づいて、歩行者候補が歩行者であるか否かを判定することにより、歩行者を適切に認識することができる。 As described above, according to the pedestrian recognition device 10 according to the present embodiment, first, the pedestrian candidate is a pedestrian according to the external illuminance (external illuminance) of the host vehicle detected by the illuminance sensor 12. By switching the determination process when determining whether or not, for example, it is possible to appropriately recognize a pedestrian regardless of the brightness in the environment at night or the like.
In addition, in a relatively bright environment even at night, for example, in addition to the comparison result between the edges detected on each image obtained by the photographing of the infrared cameras 11La and 11Ra and the visible camera 11Va, the visible A pedestrian can be appropriately recognized by determining whether or not the pedestrian candidate is a pedestrian based on color information of a region including the pedestrian candidate on the image.

本発明の実施の形態に係る歩行者認識装置の構成図である。It is a lineblock diagram of the pedestrian recognition device concerning an embodiment of the invention. 本発明の実施の形態に係る歩行者認識装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the pedestrian recognition apparatus which concerns on embodiment of this invention.

符号の説明Explanation of symbols

１０ 歩行者認識装置
１１Ｌａ，１１Ｒａ 赤外線カメラ
１１Ｖａ 可視カメラ
ステップＳ０２ 抽出手段
ステップＳ０５ エッジ検出手段、比較手段
ステップＳ０６、ステップＳ０８ 判定手段
ステップＳ０７ 色情報識別手段

DESCRIPTION OF SYMBOLS 10 Pedestrian recognition apparatus 11La, 11Ra Infrared camera 11Va Visible camera step S02 Extraction means step S05 Edge detection means, comparison means step S06, step S08 Determination means step S07 Color information identification means

Claims (1)

自車両の外界に存在する物体を撮像する赤外線カメラおよび可視カメラと、
前記各カメラの撮像により得られた画像から歩行者候補を含む領域を抽出する抽出手段と、
前記抽出手段により抽出された前記領域において前記歩行者候補を対象としたエッジを検出するエッジ検出手段と、
前記エッジ検出手段により検出された各前記画像での前記エッジ同士を比較する比較手段と、
前記比較手段による比較結果に基づき、前記可視カメラの撮像により得られた可視画像から抽出された前記歩行者候補を含む領域の色情報を識別する色情報識別手段と、
前記色情報識別手段により識別された前記色情報に基づき前記歩行者候補が歩行者であるか否かを判定する判定手段と
を備えることを特徴とする歩行者認識装置。

An infrared camera and a visible camera for imaging an object existing outside the host vehicle;
Extraction means for extracting a region including a pedestrian candidate from an image obtained by imaging of each camera;
Edge detection means for detecting edges targeted for the pedestrian candidate in the region extracted by the extraction means;
Comparison means for comparing the edges in each of the images detected by the edge detection means;
Color information identifying means for identifying color information of a region including the pedestrian candidate extracted from a visible image obtained by imaging of the visible camera based on a comparison result by the comparing means;
A pedestrian recognition apparatus comprising: determination means for determining whether or not the pedestrian candidate is a pedestrian based on the color information identified by the color information identification means.

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US10150415B2 (en) 2014-08-25 2018-12-11 Hyundai Motor Company Method and apparatus for detecting a pedestrian by a vehicle during night driving

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US9738253B2 (en) 2012-05-15 2017-08-22 Aps Systems, Llc. Sensor system for motor vehicle
JP6273156B2 (en) * 2014-02-20 2018-01-31 株式会社Ｓｕｂａｒｕ Pedestrian recognition device

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JPH11215487A (en) * 1998-01-21 1999-08-06 Nissan Motor Co Ltd Pedestrian sensing and alarming system
JP2003016429A (en) * 2001-06-28 2003-01-17 Honda Motor Co Ltd Vehicle periphery monitor device

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Publication number Priority date Publication date Assignee Title
US10150415B2 (en) 2014-08-25 2018-12-11 Hyundai Motor Company Method and apparatus for detecting a pedestrian by a vehicle during night driving
US10391937B2 (en) 2014-08-25 2019-08-27 Hyundai Motor Company Method and apparatus for detecting a pedestrian by a vehicle during night driving

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