Object detection apparatus
AssigneeFujitsu Ten Limited
InventorTetsuo Yamamoto
Life of this patent
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Abstract
An object detection apparatus that detects an object in a vicinity of a vehicle includes: (a) an image processing circuit configured to: (i) derive vectors representing movement of feature points in captured images acquired periodically by a camera that captures images of the vicinity of the vehicle; and (ii) detect the object based on the vectors; and (b) a controller configured to (i) acquire a velocity of the vehicle; and (ii) set a parameter that affects a number of the feature points based on the velocity of the vehicle.
Claims15
An object detection apparatus that detects an object in a vicinity of a vehicle, the object detection apparatus comprising:
- (a) an image processing circuit configured to:
- (i) derive vectors representing movement of feature points in captured images acquired periodically by a camera that captures images of the vicinity of the vehicle;
- and
- (ii) detect the object based on the vectors;
- and
- (b) a processor configured to
- (i) acquire a velocity of the vehicle;
- and
- (ii) set a parameter that affects a number of the feature points based on the velocity of the vehicle, wherein the processor determines whether the vehicle is stopped or is traveling, based on the velocity of the vehicle, and sets the parameter such that the number of the feature points is increased while the vehicle is stopped as compared to while the vehicle is traveling.
An object detection system that detects an object in a vicinity of a vehicle, the object detection system comprising:
- (a) a camera that captures images of the vicinity of the vehicle;
- (b) an image processing circuit configured to:
- (i) derive vectors representing movement of an optical flow based on feature points in the captured images acquired periodically by the camera;
- and
- (ii) detect the object based on the vectors;
- and
- (c) a processor configured to:
- (i) acquire a velocity of the vehicle;
- and
- (ii) set a parameter that affects a number of the feature points based on the velocity of the vehicle, wherein the processor determines whether the vehicle is stopped or is traveling, based on the velocity of the vehicle, and sets the parameter such that the number of the feature points is increased while the vehicle is stopped as compared to while the vehicle is traveling.
An object detection method for detecting an object in a vicinity of a vehicle, the object detection method comprising the steps of:
- (a) deriving, with an image processing circuit, vectors representing movement of feature points in captured images acquired periodically by a camera that captures images of the vicinity of the vehicle;
- (b) detecting, with the image processing circuit, the object based on the vectors;
- (c) acquiring, with a processor, a velocity of the vehicle;
- and
- (d) setting, with the processor, a parameter that affects a number of the feature points based on the velocity of the vehicle, wherein the step (d) determines whether the vehicle is stopped or is traveling, based on the velocity of the vehicle, and sets the parameter such that the number of the feature points is increased while the vehicle is stopped as compared to while the vehicle is traveling.
A non-transitory computer-readable recording medium that stores a program to be executed by a computer that is used in a vehicle, the program causing the computer to execute the steps of:
- (a) deriving vectors representing movement of feature points in captured images acquired periodically by a camera that captures images of the vicinity of the vehicle;
- (b) detecting an object based on the vectors;
- (c) acquiring a velocity of the vehicle;
- and
- (d) setting a parameter that affects a number of the feature points based on the velocity of the vehicle, wherein the step (d) determines whether the vehicle is stopped or is traveling, based on the velocity of the vehicle, and sets the parameter such that the number of the feature points is increased while the vehicle is stopped as compared to while the vehicle is traveling.
Dependencies are inferred from the claim text.