WO2008139529A1 - 車両周辺監視装置、車両周辺監視用プログラム、車両周辺監視方法 - Google Patents

車両周辺監視装置、車両周辺監視用プログラム、車両周辺監視方法 Download PDF

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Publication number
WO2008139529A1
WO2008139529A1 PCT/JP2007/059223 JP2007059223W WO2008139529A1 WO 2008139529 A1 WO2008139529 A1 WO 2008139529A1 JP 2007059223 W JP2007059223 W JP 2007059223W WO 2008139529 A1 WO2008139529 A1 WO 2008139529A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle periphery
periphery monitoring
processing target
target area
image
Prior art date
Application number
PCT/JP2007/059223
Other languages
English (en)
French (fr)
Inventor
Basel Fardi
Original Assignee
Honda Motor Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co., Ltd. filed Critical Honda Motor Co., Ltd.
Priority to US12/450,587 priority Critical patent/US8126210B2/en
Priority to PCT/JP2007/059223 priority patent/WO2008139529A1/ja
Priority to JP2009513873A priority patent/JP5083841B2/ja
Priority to AT07742658T priority patent/ATE537662T1/de
Priority to EP07742658A priority patent/EP2150053B8/en
Publication of WO2008139529A1 publication Critical patent/WO2008139529A1/ja

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person
    • G06T2207/30201—Face
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Abstract

　レーダーにより検出された物体と車両との距離に基づいて、撮像画像Ｉm2内で、監視対象物の画像部分が含まれる可能性がある画像処理対象領域６１を設定する画像処理対象領域設定手段と、画像処理対象領域６１に基づく探索領域６４内で歩行者の頭部の特徴量を有する特徴領域を抽出する特徴領域抽出手段と、特徴領域６０ａが抽出されたときに、特徴領域６０ａの位置に基づいて、画像処理対象領域の範囲を６１から６２に補正する画像処理対象領域補正手段と、補正後の画像処理対象領域６２に含まれる画像部分について、該画像部分に対応する実空間上の監視対象物の種別を判別する対象物種別判別手段とを備える。これにより、監視対象物の画像部分を抽出する画像領域を、画像対象物の種別に応じて適切に設定することができる。
PCT/JP2007/059223 2007-04-27 2007-04-27 車両周辺監視装置、車両周辺監視用プログラム、車両周辺監視方法 WO2008139529A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US12/450,587 US8126210B2 (en) 2007-04-27 2007-04-27 Vehicle periphery monitoring device, vehicle periphery monitoring program, and vehicle periphery monitoring method
PCT/JP2007/059223 WO2008139529A1 (ja) 2007-04-27 2007-04-27 車両周辺監視装置、車両周辺監視用プログラム、車両周辺監視方法
JP2009513873A JP5083841B2 (ja) 2007-04-27 2007-04-27 車両周辺監視装置、車両周辺監視用プログラム、車両周辺監視方法
AT07742658T ATE537662T1 (de) 2007-04-27 2007-04-27 System, programm und verfahren zur fahrzeugsperipherieüberwachung
EP07742658A EP2150053B8 (en) 2007-04-27 2007-04-27 Vehicle periphery monitoring device, vehicle periphery monitoring program and vehicle periphery monitoring method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2007/059223 WO2008139529A1 (ja) 2007-04-27 2007-04-27 車両周辺監視装置、車両周辺監視用プログラム、車両周辺監視方法

Publications (1)

Publication Number Publication Date
WO2008139529A1 true WO2008139529A1 (ja) 2008-11-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/059223 WO2008139529A1 (ja) 2007-04-27 2007-04-27 車両周辺監視装置、車両周辺監視用プログラム、車両周辺監視方法

Country Status (5)

Country Link
US (1) US8126210B2 (ja)
EP (1) EP2150053B8 (ja)
JP (1) JP5083841B2 (ja)
AT (1) ATE537662T1 (ja)
WO (1) WO2008139529A1 (ja)

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JP2011186753A (ja) * 2010-03-08 2011-09-22 Honda Motor Co Ltd 車両周辺監視装置
CN102985958A (zh) * 2010-08-31 2013-03-20 本田技研工业株式会社 车辆周围监测装置
JP2013140515A (ja) * 2012-01-05 2013-07-18 Toyota Central R&D Labs Inc 立体物検出装置及びプログラム
WO2013108664A1 (ja) * 2012-01-16 2013-07-25 トヨタ自動車株式会社 物体検出装置
WO2014118872A1 (ja) * 2013-01-29 2014-08-07 有限会社ラムロック映像技術研究所 監視システム
JP2017142735A (ja) * 2016-02-12 2017-08-17 マツダ株式会社 車両用の歩行者動作識別装置
WO2023132007A1 (en) * 2022-01-05 2023-07-13 Nec Corporation Detection apparatus, model generation apparatus, detection method, and program

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CN105678268B (zh) * 2016-01-11 2020-06-30 华东理工大学 一种基于双区域学习的地铁站场景行人计数实现方法
US20170242117A1 (en) * 2016-02-19 2017-08-24 Delphi Technologies, Inc. Vision algorithm performance using low level sensor fusion
US11765323B2 (en) 2017-05-26 2023-09-19 Calumino Pty Ltd. Apparatus and method of location determination in a thermal imaging system
WO2019054092A1 (ja) * 2017-09-12 2019-03-21 パナソニックＩｐマネジメント株式会社 画像生成装置及び画像生成方法
US10901080B2 (en) * 2018-10-26 2021-01-26 Fleetmind Seon Solutions Inc. Traffic monitoring and predictive analysis system for use with vehicle stop indicator systems
US11436923B2 (en) * 2019-01-25 2022-09-06 Cavh Llc Proactive sensing systems and methods for intelligent road infrastructure systems
EP3990862A4 (en) * 2019-08-31 2023-07-05 Cavh Llc DISTRIBUTED DRIVING SYSTEMS AND METHODS FOR AUTOMATED VEHICLES
JP7399725B2 (ja) * 2020-01-27 2023-12-18 シャープ株式会社 走行体、走行システム、及び走行制御方法
CN113495270A (zh) * 2020-04-07 2021-10-12 富士通株式会社 基于微波雷达的监控装置以及方法

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Publication number Priority date Publication date Assignee Title
JP2011186753A (ja) * 2010-03-08 2011-09-22 Honda Motor Co Ltd 車両周辺監視装置
CN102985958A (zh) * 2010-08-31 2013-03-20 本田技研工业株式会社 车辆周围监测装置
CN102985958B (zh) * 2010-08-31 2015-04-01 本田技研工业株式会社 车辆周围监测装置
JP2013140515A (ja) * 2012-01-05 2013-07-18 Toyota Central R&D Labs Inc 立体物検出装置及びプログラム
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JP2017142735A (ja) * 2016-02-12 2017-08-17 マツダ株式会社 車両用の歩行者動作識別装置
WO2023132007A1 (en) * 2022-01-05 2023-07-13 Nec Corporation Detection apparatus, model generation apparatus, detection method, and program

Also Published As

Publication number Publication date
EP2150053B1 (en) 2011-12-14
US20100104138A1 (en) 2010-04-29
EP2150053A1 (en) 2010-02-03
JPWO2008139529A1 (ja) 2010-07-29
EP2150053B8 (en) 2012-02-15
EP2150053A4 (en) 2010-04-14
JP5083841B2 (ja) 2012-11-28
US8126210B2 (en) 2012-02-28
ATE537662T1 (de) 2011-12-15

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