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    • 13. 发明专利
    • DETECTOR FOR CROSSING OBJECT
    • JPH09226490A
    • 1997-09-02
    • JP3503996
    • 1996-02-22
    • NIPPON SOKEN
    • IMANISHI KATSUYUKIKATO MASANORIKITAGAWA MARE
    • G01B11/00B60R21/00G06T1/00G06T7/60
    • PROBLEM TO BE SOLVED: To efficiently detect a comparatively small crossing object with a high precision. SOLUTION: On the basis of image data from a photographing device 1, distance distribution data for a front space is provided by means of a distance computing circuit 3. Using a plurality of images photographed at the different times, a moving quantity of a crossing person between images is computed by means of a moving quantity computing device 4. By means of a vertical edge number computing circuit 5, detection windows matching with the dimension of the crossing person as to the vertical area of the photographed image are arranged in the horizontal direction without any gap, and the number of vertical edges for each detection window is computed. When the number of vertical edges based on the vertical edge number computing circuit 5 is the specified threshold value or more, the detected window is detected as a proposed window by means of a microcomputer 7. By means of the microcomputer 7, an object heading to the center of a traveling path is temporarily detected as a crossing person on the basis of the center position of the traveling path and the moving direction of the object, while a detected window, in which the crossing person exists actually, is specified on the basis of the time coordinate process.