Moving object detection apparatus and moving object detection method

An apparatus for detecting a moving object, comprising:

• an image input unit that inputs a camera image taken by an on-vehicle camera;
• a motion vector generation unit that processes the image from the image input unit to generate a motion vector of the image;
• an estimation unit that calculates motion vectors of a plurality of points P in the image and a vanishing point at which extended motion vectors obtained by extending the motion vectors converge, and estimates rotational components (Rx, Ry, Rz) and a translational component as vehicle movement parameters based on the motion vectors and the vanishing point;
• and
• a determination unit that sets an estimated distance weighting coefficient z0 that associates the road surface with camera viewing angle, calculates an estimated vehicle translational component from the average of a translational component obtained by multiplying the estimated translational component by the coefficient z0, predicts a motion vector of a given point Q in the image from the rotational components (Rx, Ry, Rz), translational component, and coefficient z0, compares the predicted motion vector and an actual measurement motion vector, and determines the existence of a moving object when the coincidence degree between the predicted motion vector and actual measurement motion vector is low.

A method for detecting a moving object, comprising:

• inputting a camera image taken by an on-vehicle camera;
• processing the image to generate motion vectors of a plurality of points P in the image;
• estimating rotational components (Rx, Ry, Rz) of vehicle movement parameters as being equal to the inclination from each point P to a vanishing point when the inclination of the motion vector of each point P is corrected by the rotational components (Rx, Ry, Rz) of the vehicle movement parameters;
• and
• correcting the inclination of the motion vector of a given point Q in the image by using the rotational components (Rx, Ry, Rz) of the vehicle movement parameters, comparing the corrected inclination of the motion vector and inclination of a straight line connecting the given point Q and the vanishing point, and detecting the existence of a moving object that moves in a direction different from the vehicle movement direction when the coincidence degree between the inclinations is low, while detecting the existence of a stationary object or a moving object that radially moves toward the vanishing point when the coincidence degree of the inclinations is high.

A method for detecting a moving object, comprising:

• inputting a camera image taken by an on-vehicle camera;
• processing the image to generate motion vectors of a plurality of points P in the image and calculating a vanishing point at which extended motion vectors obtained by extending the motion vectors converge, and estimating rotational components (Rx, Ry, Rz) and a translational component as vehicle movement parameters based on the motion vectors and the vanishing point;
• and
• setting an estimated distance weighting coefficient z0 that associates the road surface with camera viewing angle, calculating an estimated vehicle translational component from the average of a translational component obtained by multiplying the estimated translational component by the coefficient z0, predicting a motion vector of a given point Q in the image from the rotational components (Rx, Ry, Rz), translational component, and coefficient z0, comparing the predicted motion vector and an actual measurement motion vector, and determining the existence of a moving object when the coincidence degree between the predicted motion vector and actual measurement motion vector is low.

An apparatus for detecting a moving object, comprising:

• a division/conversion unit that divides a non-linear image taken by an on-vehicle camera having a wide imaging range into a plurality of images each having a preset viewing-angle range to generate a plurality of linear projection plane images having a common camera center;
• a calculation unit that calculates motion vectors of the projection plane images;
• a determination unit that analyzes the motion vectors of the plurality of projection plane images to determine the existence of a moving object;
• and
• a display unit that displays the determination result of the moving object determination unit.

A method for detecting a moving object, comprising:

• dividing a non-linear image taken by an on-vehicle camera having a wide imaging range into a plurality of images each having a preset viewing-angle range to generate a plurality of linear projection plane images having a common camera center;
• calculating motion vectors of the projection plane images;
• analyzing the motion vectors of the plurality of projection plane images to determine the existence of a moving object;
• and
• displaying the determination result of the moving object existence on a display unit.