Object detection device and object detection method
AssigneeMitsubishi Electric Corporation
InventorsTomoya SAWADA, Hidetoshi MISHIMA, Hideaki MAEHARA, Yoshimi MORIYA, Kazuyuki MIYAZAWA, Akira MINEZAWA, Momoyo HINO, Mengxiong WANG, Naohiro SHIBUYA
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Abstract
An image feature map generating unit (3) generates, on the basis of feature amounts extracted from a plurality of images successively captured by a camera (109), an image feature map which is an estimated distribution of the object likelihood on each of the images. An object detecting unit (4) detects an object on the basis of the image feature map generated by the image feature map generating unit (3).
Claims6
1-5. (canceled)
An object detection device, comprising:
- a processor to execute a program;
- and
- a memory to store the program which, when executed by the processor, performs processes of,
- acquiring, from a plurality of frame images arranged in a time series in an image sequence successively captured by a camera, a pair of same frame images for each of the plurality of frame images and inverting one of the same frame images, generating image pyramids each of which includes images obtained by gradually reducing a corresponding one of the same frame images of the pair, extracting, from an image of a salient part extracted from each of the images in each of the image pyramids, a group of pixels each of whose pixel value is larger than a corresponding threshold value, the threshold value being set for each of the pixels depending on brightness information in a vicinity of a target pixel, generating a map by integrating the extracted group of pixels, binarizing and then integrating the map generated for each of the images in each of the image pyramids which correspond to the same frame images of the pair, and thereby generating, for each of the plurality of frame images, an image feature map representing an estimated distribution of object likelihood on a corresponding one of the plurality of frame images;
- and
- detecting an object on a basis of the image feature map generated.
An object detection method comprising:
- acquiring, from a plurality of frame images arranged in a time series in an image sequence successively captured by a camera, a pair of same frame images for each of the plurality of frame images and inverting one of the same frame images, generating image pyramids each of which includes images obtained by gradually reducing a corresponding one of the same frame images of the pair, extracting, from an image of a salient part extracted from each of the images in each of the image pyramids, a group of pixels each of whose pixel value is larger than a corresponding threshold value, the threshold value being set for each of the pixels depending on brightness information in a vicinity of a target pixel, generating a map by integrating the extracted group of pixels, binarizing and then integrating the map generated for each of the images in each of the image pyramids which correspond to the same frame images of the pair, and thereby generating, for each of the plurality of frame images, an image feature map representing an estimated distribution of object likelihood on a corresponding one of the plurality of frame images;
- calculating optical flows between the plurality of frame images captured successively by the camera;
- calculating reliability of the optical flows calculated;
- and
- performing object detection based on at least one of the optical flows and object detection based on the image feature map depending on the reliability calculated.
Dependencies are inferred from the claim text.