Detecting device and method to detect an object based on a road boundary
AssigneeNissan Motor Co., Ltd.
InventorKazumi Fujimoto
Life of this patent
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Abstract
A detecting device and corresponding method for detecting an object in an image where the image is captured by an image pickup device mounted on a vehicle. A controller is coupled to the image pickup device. The controller extracts pixels of the image captured by the image pickup device, calculates a side direction velocity component based upon the extracted pixels, detects a road boundary based upon the calculated side direction velocity component, and detects a moving direction of the object based upon a relationship between the road boundary and the object.
Claims21
An apparatus for detecting an object in at least one image, comprising:
- an image pickup device mounted on a vehicle, the image pickup device capturing an image;
- and
- a controller coupled to the image pickup device;
- wherein the controller is operable to extract pixels of the image captured by the image pickup device, to calculate a side direction velocity component based upon the extracted pixels, to detect a road boundary based upon the calculated side direction velocity component, and to detect a moving direction of the object based upon a relationship between the road boundary and the object.
An apparatus for detecting objects in an image obtained by an image pick-up device mounted on a vehicle, comprising:
- edge-extraction means for extracting edges of at least one object present in multiple image frames;
- road boundary detection means for detecting a road boundary in the image based on respective lateral speeds of movement of at least some of the extracted edges;
- and
- direction-of-movement determination means for determining a direction of movement of an object based on the road boundary and respective lateral speeds of movement of others of the extracted edges.
A method of detecting objects in an image obtained by an image pick-up device mounted on a vehicle, comprising:
- extracting edges of at least one object present in multiple image frames;
- detecting a road boundary in the image based on respective lateral speeds of movement of at least some of the extracted edges;
- and
- determining a direction of movement of an object based on the road boundary and respective lateral speeds of movement of others of the extracted edges.
A method of detecting objects in an image obtained by an image pick-up device mounted on a vehicle, comprising:
- extracting edges of at least one object present in multiple image frames;
- determining an existence of a road boundary in the image based on respective lateral speeds of movement of at least some of the extracted edges;
- determining a direction of movement of an object according to a first method when the object is outside the road boundary;
- and
- determining the direction of movement of the object according to a second method when one of the road boundary does not exist and at least a portion of the object is inside the road boundary.
Dependencies are inferred from the claim text.