# US 10,482,320 B2 · Device and method for providing moving body information for a vehicle, and recording medium, on which a program for executing the method is recorded

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- Number: US 10,482,320 B2
- Document ID: US10482320B2
- Status: Granted
- Kind: B2
- Application number: 15/742,693
- Filed: 2016-07-07
- Published: 2018-07-26
- Granted: 2019-11-19
- Earliest claimed: 2015-07-08
- Assignees: LG Innotek Co., Ltd.; Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University)
- Applicants: LG Innotek Co., Ltd.; Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University)
- Inventors: Jung Hun Lee; Min Kyu Kim; Jae Kyu Suhr; Sung Hyun Lim; Ho Gi Jung
- Web page: https://patentgrep.com/patent/US10482320B2

## CPC

- G06V 40/103: {Static body considered as a whole, e.g. static pedestrian or occupant recognition}
- G06T 7/251: {involving models}
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A device for providing moving body information for a vehicle, according to one embodiment, includes an image acquisition unit acquiring a peripheral image of the vehicle, an image extraction unit extracting at least one of a first image of an upper body of at least one moving object or a second image of a lower body of the moving object from the peripheral image of the vehicle, and a moving object information determination unit determining at least one of presence/absence or a position of the moving object using at least one of the extracted first image or second image, wherein the image extraction unit extracts as the first image at least one of a ‘1-1’-st image of an entirety of the upper body or a ‘1-2’-nd image of a part of the upper body, and extracts as the second image at least one of a ‘2-1’-st image of an entirety of the lower body or a ‘2-2’-nd image of a part of the lower body.

## Claims

### Claim 1

A moving object information providing device for a vehicle, comprising:
a camera configured to acquire a peripheral image of the vehicle;
a processor configured to:
extract at least one of a first image of an upper body of at least one moving object or a second image of a lower body of the moving object from the peripheral image of the vehicle; and
determine as a moving object information at least one of presence/absence of the moving object around the vehicle or a position of the moving object using at least one of the extracted first image or second image, wherein the processor extracts, as the first image, at least one of a ‘1-1’-st image of an entirety of the upper body of the moving object; or a ‘1-2’-nd image of a part of the upper body of the moving object, and
extract, as the second image, at least one of a ‘2-1’-st image of an entirety of the lower body of the moving object; or a ‘2-2’-nd image of a part of the lower body of the moving object, and
wherein the processor determines the moving object information using only the second image without using the first image, when the processor extracts the first and second images.

### Claim 2 (depends on 1)

The device according to claim 1, wherein the processor is further configured to:
detect the ‘1-1’-st image from the acquired peripheral image; and
detect the ‘2-1’-st image from the acquired peripheral image.

### Claim 3 (depends on 2)

The device according to claim 2, wherein the processor is further configured to:
verify the ‘1-1’-st image detected by the ‘1-1’-st image detection unit; or
verify the ‘2-1’-st image detected by the ‘2-1’-st image detection unit.

### Claim 4 (depends on 3)

The device according to claim 3, wherein the processor is further configured to:
detect the ‘1-2’-nd image from the ‘1-1’-st image; and
detect the ‘2-2’-nd image from the ‘2-1’-st image.

### Claim 5 (depends on 4)

The device according to claim 4, wherein the processor is further configured to:
verify the ‘1-2’-nd image; or
verify the ‘2-2’-nd image.

### Claim 6 (depends on 5)

The device according to claim 5, wherein the processor is further configured to:
detect the ‘1-1’-st image in a first direction in which the moving object faces the vehicle from the acquired peripheral image;
detect the ‘1-1’-st image in a second direction different from the first direction from the acquired peripheral image;
detect the ‘2-1’-st image in the first direction from the acquired peripheral image; and
detect the ‘2-1’-st image in the second direction from the acquired peripheral image.

### Claim 7 (depends on 5)

The device according to claim 5, wherein the processor is further configured to:
detect the ‘1-1’-st image from the acquired peripheral image;
classify the ‘1-1’-st image according to a direction in which the moving object faces with respect to the vehicle from the ‘1-1’-st image;
detect the ‘2-1’-st image from the acquired peripheral image; and
classify the ‘2-1’-st image according to a direction in which the moving object faces with respect to the vehicle from the ‘2-1’-st image.

### Claim 8 (depends on 6)

The device according to claim 6, wherein the processor is further configured to:
verify the ‘1-1’-st image in the first direction; or
verify the ‘1-1’-st image in the second direction, and
wherein the processor is further configured to:
verify the ‘2-1’-st image in the first direction; or
verify the ‘2-1’-st image in the second direction.

### Claim 9 (depends on 8)

The device according to claim 8, wherein the processor is further configured to:
detect the ‘1-2’-nd image in the first direction from the ‘1-1’-st image;
detect the ‘1-2’-nd image in the second direction from the ‘1-2’-nd image detected by the processor;
detect ‘2-2’-nd image in the first direction from the ‘2-1’-st image detected by the processor; and
detect the ‘2-2’-nd image in the second direction from the ‘2-1’-st image detected by the processor.

### Claim 10 (depends on 9)

The device according to claim 9, wherein the processor is further configured to:
verify the ‘1-2’-nd image; or
verify the ‘1-2’-nd image, and
wherein the processor is further configured to:
verify the ‘2-2’-nd image; or
verify the ‘2-2’-nd image.

### Claim 11 (depends on 1)

The device according to claim 1, wherein the processor is further configured to:
detect the ‘1-2’-nd image from the acquired peripheral image; and
detect the ‘2-2’-nd image from the acquired peripheral image.

### Claim 12 (depends on 11)

The device according to claim 11, wherein the processor is further configured to:
verify the ‘1-2’-nd image; or
verify the ‘2-2’-nd image.

### Claim 13 (depends on 12)

The device according to claim 12, wherein the processor is further configured to:
determine the ‘1-1’-st image from the ‘1-2’-nd image; and
determine the ‘2-1’-st image from the ‘2-2’-nd image.

### Claim 14 (depends on 13)

The device according to claim 13, wherein the processor is further configured to:
verify the ‘1-1’-st image determined by the first image determination unit; and
verify the ‘2-1’-st image.

### Claim 15

A method for providing moving object information for a vehicle, the method comprising:
(a) acquiring a peripheral image of the vehicle;
(b) extracting at least one of a first image of an upper body of at least one moving object or a second image of a lower body of the moving object from the acquired peripheral image; and
(c) determining as a moving object information at least one of presence/absence of the moving object or a position of the moving object using at least one of the extracted first image or second image,
wherein the first image comprises at least one of:
a ‘1-1’-st image of an entirety of the upper body of the moving object; or
a ‘1-2’-nd image of a part of the upper body of the moving object,
wherein the second image comprises at least one of:
a ‘2-1’-st image of an entirety of the lower body of the moving object; or
a ‘2-2’-nd image of a part of the lower body of the moving object, and
wherein the moving object information is determined using only the second image without using the first image in step (c), when the first and second images are extracted in step (b).

### Claim 16 (depends on 15)

The method according to claim 15, wherein the step (b) comprises:
detecting the ‘1-1’-st image from the acquired peripheral image when the acquired peripheral image comprises the ‘1-1’-st image;
detecting the ‘2-1’-st image from the acquired peripheral image when the acquired peripheral image comprises the ‘2-1’-st image;
verifying the detected ‘1-1’-st or ‘2-1’-st image;
detecting the ‘1-2’-nd or ‘2-2’-nd image from the verified or detected ‘1-1’-st or ‘2-1’-st image, respectively; and
verifying the detected ‘1-2’-nd or ‘2-2’-nd image.

### Claim 17 (depends on 16)

The method according to claim 16, wherein the detecting of the ‘1-1’-st image comprises:
detecting the ‘1-1’-st image of a first direction in which the moving object faces the vehicle from the acquired peripheral image when the moving object contained in the ‘1-1’-st image included in the acquired peripheral image faces in the first direction with respect to the vehicle; and
detecting the ‘1-1’-st image of a second direction different from the first direction from the acquired peripheral image when the moving object contained in the ‘2-1’-st image included in the acquired peripheral image faces in the second direction with respect to the vehicle,
wherein the detecting of the ‘2-1’-st image comprises:
detecting the ‘2-1’-st image of the first direction from the acquired peripheral image when the moving object contained in the ‘2-1’-st image included in the acquired peripheral image faces in the first direction with respect to the vehicle; and
detecting the ‘2-1’-st image of the second direction from the acquired peripheral image when the moving object contained in the ‘2-1’-st image included in the acquired peripheral image faces in the second direction with respect to the vehicle.

### Claim 18 (depends on 16)

The method according to claim 16, wherein the detecting of the ‘1-1’-st or ‘2-1’-st image comprises:
detecting the ‘1-1’-st image in the acquired peripheral image when the ‘1-1’-st image is included from the acquired peripheral image;
classifying the ‘1-1’-st image of a first direction from the detected ‘1-1’-st image when the moving object contained in the detected ‘1-1’-st image faces in the first direction with respect to the vehicle;
classifying the ‘1-1’-st image of a second direction different from the first direction from the detected ‘1-1’-st image when the moving object contained in the detected ‘1-1’-st image faces in the second direction with respect to the vehicle;
detecting the ‘2-1’-st image from the acquired peripheral image when the ‘2-1’-st image is included in the acquired peripheral image;
classifying the ‘2-1’-st image of the first direction from the detected ‘2-1’-st image when the moving object contained in the detected ‘2-1’-st image faces in the first direction with respect to the vehicle; and
classifying the ‘1-1’-st image of the second direction different from the first direction from the detected ‘2-1’-st image when the moving object contained in the detected ‘2-1’-st image faces in the second direction with respect to the vehicle.

### Claim 19 (depends on 15)

The method according to claim 15, wherein the step (b) comprises:
detecting the ‘1-2’-nd image from the acquired peripheral image when the acquired peripheral image comprises the ‘1-2’-nd image;
detecting the ‘2-2’-nd image from the acquired peripheral image when the acquired peripheral image comprises the ‘2-2’-nd image;
verifying the detected ‘1-2’-nd or ‘2-2’-nd image;
determining the ‘1-1’-st or ‘2-1’-st image from the verified ‘1-2’-nd or ‘2-2’-nd image, respectively; and
verifying the determined ‘1-1’-st or ‘2-1’-st image.

### Claim 20

A non-transitory computer-readable recording medium on which a program for executing a moving object information providing method for a vehicle performed by a moving object information providing device for the vehicle is recorded,
wherein the program is configured to implement:
(a) a function of acquiring a peripheral image of the vehicle;
(b) a function of extracting at least one of a first image of an upper body of a moving object or a second image of a lower body of the moving object from the acquired peripheral image; and
(c) a function of determining as a moving object information at least one of presence of the moving object or a position of the moving object, using at least one of the extracted first or second image, and
wherein the moving object information is determined using only the second image without using the first image, when the first and second images are extracted in the function (b).