# US 11,113,833 B2 · Object detection system

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- Number: US 11,113,833 B2
- Document ID: US11113833B2
- Status: Granted
- Kind: B2
- Application number: 16/493,121
- Filed: 2018-03-05
- Published: 2020-04-16
- Granted: 2021-09-07
- Earliest claimed: 2017-03-14
- Assignees: Konica Minolta, Inc.
- Applicants: Konica Minolta, Inc.
- Inventors: Shunsuke Takamura
- Web page: https://patentgrep.com/patent/US11113833B2

## CPC

- G06T 7/579: from motion
- G01S 7/4802: {using analysis of echo signal for target characterisation; Target signature; Target cross-section}
- G01S 17/04: Systems determining the presence of a target
- G01S 17/50: Systems of measurement based on relative movement of target
- G01S 17/89: for mapping or imaging
- G06T 7/194: involving foreground-background segmentation
- G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments
- G06T 7/254: involving subtraction of images
- G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G06T 2207/30232: Surveillance
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

An object detection system includes a depth image detector and a moving object extractor. The depth image detector detects a depth image from an external environment. The moving object extractor extracts a moving object desired to be extracted from the depth image. The moving object extractor registers in advance the depth image in a memory as a background while the moving object to be extracted does not exist, and extracts only a pixel whose current depth is present on a nearer side than a depth of the background as a candidate for a pixel corresponding to the moving object to be extracted.

## Claims

### Claim 1

An object detection system comprising:
a depth image detector that detects a depth image from an external environment; and
a moving object extractor that extracts a moving object desired to be extracted from the depth image,
wherein the moving object extractor registers in advance the depth image in a memory as a background while the moving object to be extracted does not exist, and extracts only a pixel whose current depth is present on a nearer side than a depth of the background as a candidate for a pixel corresponding to the moving object to be extracted;
wherein the moving object extractor further makes a determination to extract, as the moving object to be extracted, a pixel from a pixel group composed of pixels of the candidates having been extracted, and for a portion not extracted as the moving object to be extracted, updates and registers a depth of the pixel in the memory as the depth of the background; and
wherein the moving object extractor determines a size of the pixel group, compares the size of the pixel group to a threshold value, and when the size of the pixel group exceeds the threshold value the pixel group is registered as background.

### Claim 2 (depends on 1)

The object detection system according to claim 1, wherein when determining whether a pixel is present on a nearer side than the background registered in the memory, the moving object extractor sets a minimum threshold value of a changing depth, and extracts only a pixel present on a nearer side than the depth of the background by more than or equal to the threshold value as a candidate for a pixel corresponding to the moving object to be extracted.