# US 2018/0025236 A1 · Detecting device, detecting method, and program

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- Number: US 2018/0025236 A1
- Document ID: US20180025236A1
- Status: Published application
- Kind: A1
- Application number: 15/720,444
- Filed: 2017-09-29
- Published: 2018-01-25
- Earliest claimed: 2014-09-30
- Assignees: International Business Machines Corporation
- Applicants: International Business Machines Corporation
- Inventors: Ching-Yung Lin; Masayuki Murata; Shuichi Shimizu
- Web page: https://patentgrep.com/patent/US20180025236A1

## CPC

- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- G06T 7/74: {involving reference images or patches}
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06T 2207/10021: Stereoscopic video; Stereoscopic image sequence
- G06T 2207/30261: Obstacle
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

To detect a distant object that may become an obstacle to a traveling destination of a moving vehicle or the like more accurately than the conventional, there is provided a detecting device, a program used in the detecting device, and a detecting method using the detecting device, where the detecting device includes: an acquisition section for acquiring two or more images captured in two or more imaging devices provided at different heights; and a detection section for detecting a rising portion of an identical object toward the imaging devices based on a difference between the lengths of the identical object in the height direction in the two or more images.

## Claims

### Claim 1

A detecting device comprising:
an acquisition section for acquiring a plurality of images captured in a plurality of imaging devices provided at different heights; and
a detection section for detecting a rising portion of an identical object toward the imaging devices based on a difference between lengths of the identical object in a height direction in the plurality of images;
wherein the detection section detects the rising portion based on a length ratio between regions corresponding to the identical object in the height direction in the plurality of images.

### Claim 2 (depends on 1)

The detecting device of claim 1, wherein the detecting device further comprises:
an extraction section for extracting, from the plurality of images, an obstacle candidate as an candidate for an obstacle;
a distance calculation section for calculating distance to an identical object corresponding to the obstacle candidate based on amounts of parallax of the plurality of images; and
a determination section for determining whether the identical object is an obstacle;
wherein the detection section generates a plurality of template images obtained by reducing an image of the obstacle candidate included in one image of the plurality of images at each of a plurality of magnification candidates, performs template matching using each of the plurality of template images on another image of the plurality of images, calculates a matching score at a best matching position in the other image, and calculates a magnification giving a maximum matching score from among the plurality of magnification candidates; and
wherein, on condition that the magnification giving the maximum matching score is larger than a threshold value based on distance to the identical object, the determination section determines the identical object to be an obstacle.