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    • 43. 发明授权
    • Apparatus, program and method for detecting both stationary objects and moving objects in an image using optical flow
    • 用于使用光流检测图像中的静止物体和移动物体的装置,程序和方法
    • US07062071B2
    • 2006-06-13
    • US10322307
    • 2002-12-17
    • Hiroshi TsujinoHiroshi KondoAtsushi MiuraShinichi NagaiKoji Akatsuka
    • Hiroshi TsujinoHiroshi KondoAtsushi MiuraShinichi NagaiKoji Akatsuka
    • G06K9/00
    • G06T7/269G06T7/215G06T7/262G06T7/74G06T2207/30241
    • An object detection apparatus is provided for detecting both stationary objects and moving objects accurately from an image captured from a moving mobile unit.The object detection apparatus of the present invention applies Gabor filter to two or more input images captured by an imaging device such as CCD camera mounted on a mobile unit, and calculates optical flow of local areas in the input images. Then the object detection apparatus closely removes optical flow produced by motion of the mobile unit by estimating optical flow produced from background of the input images. In other words, the object detection apparatus clarifies the area where object is not present (“ground”) in the input images. By removing such “ground” part, the area where objects seems to be present (“feature”) is extracted from the input images. Finally, the object detection apparatus determines whether objects are present or not using flow information of the extracted “feature” part.
    • 提供一种物体检测装置,用于从移动的移动单元捕获的图像中精确地检测静止物体和移动物体。 本发明的对象检测装置将Gabor滤波器应用于由安装在移动单元上的CCD摄像机等摄像装置拍摄的两个以上的输入图像,并计算输入图像中局部区域的光流。 然后,物体检测装置通过估计从输入图像的背景产生的光流来紧密地去除由移动单元的运动产生的光流。 换句话说,对象检测装置说明输入图像中不存在对象(“接地”)的区域。 通过移除这样的“地面”部分,从输入图像中提取对象似乎存在的区域(“特征”)。 最后,对象检测装置使用提取的“特征”部分的流信息来确定对象是否存在。