Method and apparatus for monitoring region around vehicle
AssigneesDenso Corporation, Toyota Jidosha Kabushiki Kaisha
InventorsKen TANABE, Hiroaki ITO, Naohide UCHIDA
Life of this patent
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Abstract
In a monitoring apparatus, an optical flow calculator calculates an optical flow for each of selected pixel regions included in at least one pixel region group of an image. The optical flow for each of the selected pixel regions includes information about a direction and amount of movement of a corresponding part of the at least one target object. An adjuster calculates the sum of areas of all the pixel regions included in the at least one pixel region group of the image, and adjusts a selected number of the optical flows to be matched with the at least one pixel region group as a function of the calculated sum of the areas of all the pixel regions included in the at least one pixel region group.
Claims9
An apparatus for monitoring a region around a vehicle based on an image captured around the vehicle, the image being comprised of a plurality of pixel regions, the apparatus comprising:
- a distance information item obtainer configured to obtain, for each of the pixel regions of the image, a distance information item relative to the vehicle in accordance with the image;
- a grouping processor configured to segment the pixel regions of the image into at least one pixel region group, the at least one pixel region group including at least one target object;
- an optical flow calculator configured to calculate an optical flow for each of selected pixel regions included in the at least one pixel region group of the image, the optical flow for each of the selected pixel regions including information about a direction and amount of movement of a corresponding part of the at least one target object;
- an adjuster configured to:
- calculate the sum of areas of all the pixel regions included in the at least one pixel region group of the image;
- and
- adjust a selected number of the optical flows to be matched with the at least one pixel region group as a function of the calculated sum of the areas of all the pixel regions included in the at least one pixel region group;
- and
- a movement state detector configured to detect how the at least one target object has been aiming based on the selected number of the optical flows matched with the at least one pixel region group.
A method of monitoring a region around a vehicle based on an image captured around the vehicle, the image being comprised of a plurality of pixel regions, the method comprising:
- obtaining, for each of the pixel regions of the image, a distance information item relative to the vehicle in accordance with the image;
- segmenting the pixel regions of the image into at least one pixel region group, the at least one pixel region group including at least one target object;
- calculating an optical flow for each of selected pixel regions included in the at least one pixel region group of the image in accordance with change between the previous image and the image, the optical flow for each of the selected pixel regions including information about a direction and amount of movement of a corresponding part of the at least one target object;
- calculating the sum of areas of all the pixel regions included in the at least one pixel region group of the image;
- adjusting a selected number of the optical flows to be matched with the at least one pixel region group as a function of the calculated sum of the areas of all the pixel regions included in the at least one pixel region group;
- and
- detecting how the at least one target object has been moving based on the selected number of the optical flows matched with the at least one pixel region group.
An apparatus for monitoring a region around a vehicle based on an image captured around the vehicle, the image being comprised of a plurality of pixel regions, the apparatus comprising:
- a processor;
- a non-transitory computer readable storage medium;
- and
- a set of computer-executable instructions stored on the computer-readable storage medium that cause the processor to implement:
- obtaining, for each of the pixel regions of the image, a distance information item relative to the vehicle in accordance with the image;
- segmenting the pixel regions of the image into at least one pixel region group, the at least one pixel region group including at least one target object;
- calculating an optical flow for each of selected pixel regions included in the at least one pixel region group of the image, the optical flow for each of the selected pixel regions including information about a direction and amount of movement of a corresponding part of the at least one target object;
- calculating the sum of areas of all the pixel regions included in the at least one pixel region group of the image;
- adjusting a selected number of the optical flows to be matched with the at least one pixel region group as a function of the calculated sum of the areas of all the pixel regions included in the at least one pixel region group;
- and
- detecting how the at least one target object has been moving based on the selected number of the optical flows matched with the at least one pixel region group.
Dependencies are inferred from the claim text.