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    • 10. 发明授权
    • Image-based object detection apparatus and method
    • 基于图像的物体检测装置及方法
    • US07295684B2
    • 2007-11-13
    • US10624786
    • 2003-07-21
    • Hiroshi TsujinoHiroshi KondoShinichi NagaiKoji AkatsukaAtsushi Miura
    • Hiroshi TsujinoHiroshi KondoShinichi NagaiKoji AkatsukaAtsushi Miura
    • G06K9/00
    • G06T7/0002G06T7/0008G06T7/215G06T7/254G06T7/269
    • An object detection apparatus and method capable of detecting objects based on visual images captured by a self-moving unit. A sequential images output section makes a train of a first input image and a second input image sequential to the first input image and outputs said train. A local area image processor calculates local flows based on said first input image and said second input image. An inertia information acquiring section measures self-motion of the unit to calculate inertia information thereof. A global area image processor uses said inertia information to estimate global flow, which is a motion field of the entire view associated to the self-motion, using said global flow and said first input image and creates a predictive image of said second input image. The global area image processor then calculates differential image data, which is a difference between said predictive image and said second input image. A figure-ground segregation section uses said differential image data to refine said local flows and compares the refined local flows with a predetermined threshold value to extract a figure candidate area, which is the area having a high probability of an object existing in the input image. An object presence/absence determination section determines presence/absence of objects in said figure candidate area.
    • 一种能够基于由自动移动单元捕获的视觉图像来检测物体的物体检测装置和方法。 顺序图像输出部分构成与第一输入图像顺序的第一输入图像和第二输入图像的列,并输出所述列。 局部区域图像处理器基于所述第一输入图像和所述第二输入图像来计算局部流。 惯性信息获取部分测量该单元的自动运动以计算其惯性信息。 全局区域图像处理器使用所述惯性信息来估计使用所述全局流和所述第一输入图像并创建所述第二输入图像的预测图像的全自动运动的全局流动,其是与自动运动相关联的整个视图的运动场。 然后,全局区域图像处理器计算作为所述预测图像和所述第二输入图像之间的差的差分图像数据。 图形分离部分使用所述差分图像数据来细化所述本地流并将精细局部流与预定阈值进行比较,以提取图形候选区域,其是存在于输入图像中的对象的概率高的区域 。 对象存在/不存在确定部分确定所述图形候选区域中的对象的存在/不存在。