US 2009/0214081 A1Published application

Apparatus and method for detecting object

AssigneeKabushiki Kaisha Toshiba

InventorsTsuyoshi NAKANO, Susumu Kubota, Yasukazu Okamoto

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Abstract

A disparity profile indicating a relation between a perpendicular position on time series images and a disparity on a target monitoring area based on an arrangement of a camera is calculated. Processing areas are set, by setting a height of each of the processing areas using a length at the bottom of the image obtained by converting a reference value of a height of an object according to the profile, while setting a position of each bottom of processing areas on the image. An object having a height higher than a certain height with respect to the monitoring area, unify an object detection result in each processing area according to the disparity of the object, and detect the object of the whole monitoring area from each processing area is detected. Position and speed for the object detected by the object primary detection unit are estimated.

Claims5

Dependent claims

An object detection apparatus, comprising:

an image capturing unit configured to capture time series images of a target monitoring area using stereo cameras,
a disparity profile calculation unit configured to calculate a disparity profile indicating a relation between a vertical position on the time series images and a disparity on a plane of the target monitoring area, based on an arrangement of the stereo cameras,
a processing area setting unit configured to set a plurality of processing areas, by setting a position of the bottom of each of the plurality of processing areas on the time series images and setting a height of each of the processing areas using a length obtained by converting a reference value of a height of an object at the bottom of the processing area according to the disparity profile,
an object detection unit configured to detect an object having a height higher than a certain height with respect to a plane of the monitoring area from each of the processing areas, unify an object detection result in each of the processing areas according to the disparity of the object, and detect the object of the whole monitoring area,
an object movement information estimation unit configured to estimate position and speed for the object detected by the object primary detection unit.

2 more elements

Dependencies are inferred from the claim text.

Facts

Application: 12/390,745Filed 23 Feb 2009
Priority: JP 2008-04310925 Feb 2008
Published: 27 Aug 2009
Term ends: Not estimatedThe source records don’t support an estimate.

Classification6 codes

G06V 20/54
Surveillance or monitoring of activities, e.g. for recognising suspicious objects: of traffic, e.g. cars on the road, trains or boats
G06T 7/248
Using feature-based methods, e.g. the tracking of corners or segments: involving reference images or patches
G06T 2207/10021
Video; Image sequence: stereoscopic video; Stereoscopic image sequence
G06T 2207/30236
Subject of image; Context of image processing: traffic on road, railway or crossing

Family

US 8,094,884 B2Related patent
US 2009/0214081 A1This patent

From the US filing history. Foreign family members aren’t listed.

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