Mobile body recognizing apparatus and motor vehicle monitoring apparatus
AssigneeHonda Giken Kogyo Kabushiki Kaisha
InventorsIchiro Harada, Naoya Ohta
Life of this patent
Estimating the term…
Abstract
A given visual field is divided into a plurality of areas, and brightness information in the areas is detected at predetermined time intervals and stored as information of a mobile body in a memory of a motor vehicle monitoring apparatus on a motor vehicle. The bright information detected in the areas at different times is then read from the memory, and a motion of the brightness information between adjacent ones of the areas is detected as a one-dimensional optical flow. The detected one-dimensional optical flow is compared with a one-dimensional optical flow generated from a road due to the speed of the motor vehicle, for thereby detecting another motor vehicle which is moving toward the motor vehicle.
Claims18
An apparatus for recognizing a mobile body, comprising:
- information extracting means for extracting only brightness information from a plurality of visual areas;
- space differential calculating means for determining a rate of change in space of said brightness information between adjacent ones of said visual areas;
- time differential calculating means for determining a rate of change in time of said brightness information between adjacent ones of said visual areas;
- and
- mobile body detecting means for detecting a motion of a mobile body between the visual areas from said rate of change in space of said brightness information and said rate of change in time of said brightness information.
An apparatus mounted on a motor vehicle for monitoring another motor vehicle which is moving relatively to the motor vehicle, comprising:
- information extracting means for extracting only brightness information from a plurality of visual areas;
- space differential calculating means for determining a rate of change in space of said brightness information between adjacent ones of said visual areas;
- time differential calculating means for determining a rate of change in time of said brightness information between adjacent ones of said visual areas;
- and
- other motor vehicle detecting means for detecting a motion of said other motor vehicle between the visual areas from said rate of change in space of said brightness information and said rate of change in time of said brightness information.
An apparatus for recognizing a mobile body, comprising:
- an input device which sets a plurality of visual areas in an image and extracts only brightness information from said visual areas;
- a space differential calculator which determines a rate of change in space of the extracted brightness information between adjacent ones of said visual areas;
- a time differential calculator which determines a rate of change in time of the extracted brightness information between adjacent ones of said visual areas;
- and
- a mobile body detector which detects motion of a mobile body between the visual areas based on the calculated rate of change in space and rate of change in time of said space differential calculator and time differential calculator.
Dependencies are inferred from the claim text.