WO2010119329A3 - Object detection device - Google Patents

Object detection device Download PDF

Info

Publication number
WO2010119329A3
WO2010119329A3 PCT/IB2010/000827 IB2010000827W WO2010119329A3 WO 2010119329 A3 WO2010119329 A3 WO 2010119329A3 IB 2010000827 W IB2010000827 W IB 2010000827W WO 2010119329 A3 WO2010119329 A3 WO 2010119329A3
Authority
WO
WIPO (PCT)
Prior art keywords
image
object detection
detection device
movable body
imaging unit
Prior art date
Application number
PCT/IB2010/000827
Other languages
French (fr)
Other versions
WO2010119329A9 (en
WO2010119329A2 (en
Inventor
Hideo Fukamachi
Naohide Uchida
Takeshi Nanami
Masakazu Nishijima
Hiroki Goto
Tatsuya Shiraishi
Original Assignee
Toyota Jidosha Kabushiki Kaisha
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
Priority claimed from JP2009098945A external-priority patent/JP4905496B2/en
Priority claimed from JP2009098948A external-priority patent/JP4840472B2/en
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Priority to CN201080016738.7A priority Critical patent/CN102396002B/en
Priority to EP10720956.1A priority patent/EP2419881B1/en
Priority to US13/259,662 priority patent/US8854458B2/en
Publication of WO2010119329A2 publication Critical patent/WO2010119329A2/en
Publication of WO2010119329A3 publication Critical patent/WO2010119329A3/en
Publication of WO2010119329A9 publication Critical patent/WO2010119329A9/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/215—Motion-based segmentation
    • 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
    • G06T2207/10016—Video; Image sequence

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

An object detection device, including: an imaging unit (400) that is mounted on a movable body; an object detection unit (201) that calculates an image displacement of a partial image between two images captured by the imaging unit (400) at different times, and performs detection processing to detect an object in an image based on at least the image displacement; and a control unit (201) that changes a manner of performing the detection processing based on a position in the image in a lateral direction of the movable body.
PCT/IB2010/000827 2009-04-15 2010-04-14 Object detection device WO2010119329A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201080016738.7A CN102396002B (en) 2009-04-15 2010-04-14 Object detection device
EP10720956.1A EP2419881B1 (en) 2009-04-15 2010-04-14 Object detection device
US13/259,662 US8854458B2 (en) 2009-04-15 2010-04-14 Object detection device

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2009-098945 2009-04-15
JP2009-098948 2009-04-15
JP2009098945A JP4905496B2 (en) 2009-04-15 2009-04-15 Object detection device
JP2009098948A JP4840472B2 (en) 2009-04-15 2009-04-15 Object detection device

Publications (3)

Publication Number Publication Date
WO2010119329A2 WO2010119329A2 (en) 2010-10-21
WO2010119329A3 true WO2010119329A3 (en) 2011-01-20
WO2010119329A9 WO2010119329A9 (en) 2011-12-01

Family

ID=42289448

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2010/000827 WO2010119329A2 (en) 2009-04-15 2010-04-14 Object detection device

Country Status (4)

Country Link
US (1) US8854458B2 (en)
EP (2) EP2482250B1 (en)
CN (1) CN102396002B (en)
WO (1) WO2010119329A2 (en)

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US9505413B2 (en) * 2015-03-20 2016-11-29 Harman International Industries, Incorporated Systems and methods for prioritized driver alerts
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CN107852508A (en) * 2015-07-31 2018-03-27 深圳市大疆创新科技有限公司 The method for changing region of search
US10181195B2 (en) * 2015-12-28 2019-01-15 Facebook, Inc. Systems and methods for determining optical flow
CN105718888B (en) * 2016-01-22 2019-09-13 北京中科慧眼科技有限公司 Barrier method for early warning and barrier prior-warning device
US10460511B2 (en) * 2016-09-23 2019-10-29 Blue Vision Labs UK Limited Method and system for creating a virtual 3D model
JP6538635B2 (en) * 2016-10-07 2019-07-03 トヨタ自動車株式会社 Vehicle lighting system
JP6731332B2 (en) * 2016-12-13 2020-07-29 アイシン・エィ・ダブリュ株式会社 Obstacle determination system and obstacle determination program
CN109479088A (en) 2017-06-02 2019-03-15 深圳市大疆创新科技有限公司 The system and method for carrying out multiple target tracking based on depth machine learning and laser radar and focusing automatically
JP6816658B2 (en) * 2017-06-09 2021-01-20 トヨタ自動車株式会社 Target information acquisition device
US10304207B2 (en) * 2017-07-07 2019-05-28 Samsung Electronics Co., Ltd. System and method for optical tracking
FR3082811B1 (en) * 2018-06-20 2020-07-31 Psa Automobiles Sa MOTOR VEHICLE EQUIPPED WITH ANTI-COLLISION SENSORS
JP6828719B2 (en) * 2018-06-27 2021-02-10 トヨタ自動車株式会社 In-vehicle device and control method
DE102018221617A1 (en) 2018-12-13 2020-06-18 Robert Bosch Gmbh Method for determining a relative movement using a digital image sequence
EP3929861A4 (en) * 2019-02-18 2022-04-13 NEC Corporation Image processing device, method, and system, and computer-readable medium
CN110139081B (en) * 2019-06-14 2020-09-01 山东第一医科大学(山东省医学科学院) Video coding method and device
KR20220037531A (en) * 2020-09-17 2022-03-25 현대자동차주식회사 Vehicle and controlling method of vehicle
CN115376361A (en) * 2021-05-17 2022-11-22 上海博泰悦臻网络技术服务有限公司 Vehicle rear-end collision early warning method and device, storage medium and electronic equipment

Citations (4)

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EP1329850A2 (en) * 2001-12-28 2003-07-23 Honda Giken Kogyo Kabushiki Kaisha Apparatus, program and method for detecting both stationary objects and moving objects in an image
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Publication number Priority date Publication date Assignee Title
EP1271179A2 (en) * 2000-02-18 2003-01-02 Fico Mirrors S.A. Device for detecting the presence of objects
EP1329850A2 (en) * 2001-12-28 2003-07-23 Honda Giken Kogyo Kabushiki Kaisha Apparatus, program and method for detecting both stationary objects and moving objects in an image
EP1391845A2 (en) * 2002-07-22 2004-02-25 Honda Giken Kogyo Kabushiki Kaisha Image based object detection apparatus and method
DE102004046101A1 (en) * 2004-09-23 2006-09-21 Daimlerchrysler Ag Method for early detection of motor vehicle collision involves estimation of collision danger on the basis of determined time to collision and introducing collision reducing measures with exceeding of predetermined collision danger

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Also Published As

Publication number Publication date
CN102396002A (en) 2012-03-28
EP2419881B1 (en) 2016-03-30
EP2482250A1 (en) 2012-08-01
US20120019655A1 (en) 2012-01-26
WO2010119329A9 (en) 2011-12-01
EP2482250B1 (en) 2015-05-20
WO2010119329A2 (en) 2010-10-21
EP2419881A2 (en) 2012-02-22
CN102396002B (en) 2015-07-08
US8854458B2 (en) 2014-10-07

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