Three-dimensional object emergence detection device

A three-dimensional object the emergence detecting device configured to detect the emergence of a three-dimensional object in the vicinity of a vehicle based on a bird's-eye view image taken by a camera mounted in the vehicle, comprising:

• a bird's-eye view image obtaining means for obtaining the plurality of bird's-eye view images taken by the camera at a predetermined time interval;
• a directional characteristic component extracting means for extracting orthogonal-direction characteristic components, each of which is a directional characteristic component that is on the bird's-eye view image and has a direction nearly orthogonal to a view direction of the in-vehicle camera, from the bird's-eye view image obtained by the bird's-eye view image obtaining means;
• and
• a three-dimensional object detecting means for comparing amounts of the orthogonal-direction characteristic components extracted by the directional characteristic component extracting means among the plurality of bird's-eye view images, and when increments of the orthogonal-direction characteristic components are equal to or more than preliminarily set threshold values, it is determined that there is the emergence of the three-dimensional object.

A three-dimensional object emergence detecting device configured to detect the emergence of a three-dimensional object in the vicinity of a vehicle based on a bird's-eye view image taken by a camera mounted in the vehicle, comprising:

• a vehicle signal obtaining means for obtaining a signal from at least one of a control device of the vehicle and an information device mounted in the vehicle;
• an operation controlling means for, based on the signal from the vehicle signal obtaining means, recognizing a start point and an end point of an interval when attention of a driver of the vehicle is deviated from confirmation of surroundings of the vehicle;
• a bird's-eye view image obtaining means for, based on information from the operation controlling means, obtaining the plurality of bird's-eye view images taken by the camera at a predetermined time interval;
• a directional characteristic component extracting means for extracting orthogonal-direction characteristic components, each of which is a directional characteristic component that is on the bird's-eye view image and has a direction nearly orthogonal to a view direction of the in-vehicle camera, from the bird's-eye view image obtained by the bird's-eye view image obtaining means;
• and
• a three-dimensional object detecting means for comparing amounts of the orthogonal-direction characteristic components extracted by the directional characteristic component extracting means among the plurality of bird's-eye view images, and when increments of the orthogonal-direction characteristic components are equal to or more than preliminarily set threshold values, it is determined that there is the emergence of the three-dimensional object.

A three-dimensional object emergence detecting device configured to detect the emergence of a three-dimensional object in the vicinity of a vehicle based on a bird's-eye view image taken by a camera mounted in the vehicle, comprising:

• a bird's-eye view image obtaining means for obtaining the bird's-eye view image;
• an image detecting means for detecting image changes or image features due to the three-dimensional object by performing image processing on the bird's-eye view image obtained by the bird's-eye view image obtaining means;
• a directional characteristic component extracting means for, when the image changes or the image features detected by the image detecting means satisfy preliminarily set conditions, extracting orthogonal-direction characteristic components, each of which is a directional characteristic component that is on the bird's-eye view image and has a direction nearly orthogonal to a view direction of the in-vehicle camera, from the bird's-eye view image obtained by the bird's-eye view image obtaining means;
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• a three-dimensional object detecting means for detecting the emergence of the three-dimensional object based on amounts of the orthogonal-direction characteristic components extracted by the directional characteristic component extracting means.

A three-dimensional object emergence detecting device configured to detect the emergence of a three-dimensional object in the vicinity of a vehicle based on a bird's-eye view image taken by a camera mounted in the vehicle, comprising:

• a bird's-eye view image obtaining means for obtaining the bird's-eye view image;
• a sensor for detecting the three-dimensional object present around the vehicle;
• a directional characteristic component extracting means for, when the sensor detects the three-dimensional object, extracting orthogonal-direction characteristic components, each of which is a directional characteristic component that is on the bird's-eye view image and has a direction nearly orthogonal to a view direction of the in-vehicle camera, from the bird's-eye view image obtained by the bird's-eye view image obtaining means;
• and
• a three-dimensional object detecting means for detecting the emergence of the three-dimensional object based on amounts of the orthogonal-direction characteristic components extracted by the directional characteristic component extracting means.