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1.发明公开Apparatus, program and method for detecting both stationary objects and moving objects in an image 有权设备，程序和方法，用于在图像中检测静止物体和移动物体
公开(公告)号：EP1329850A3
公开(公告)日：2008-07-02
申请号：EP02028805.6
申请日：2002-12-23
CPC分类号： G06T7/269 , G06T7/215 , G06T7/262 , G06T7/74 , G06T2207/30241
摘要： An object detection apparatus (10)is provided for detecting both stationary objects and moving objects accurately from an image captured from a moving mobile unit.
The object detection apparatus (10) of the present invention applies Gabor filter to two or more input images captured by an imaging device (12) such as CCD camera mounted on a mobile unit, and calculates (2, 3, 4) 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 (10) determines (7) whether objects are present or not using flow information of the extracted "feature" part.摘要翻译： 的对象检测装置（10）被提供用于检测这两个静止物体和移动从一个移动的移动单元拍摄的图像准确地设置的物体。 本发明的物体检测装置（10）适用Gabor滤波器由捕获在成像设备（12）的两个或更多个输入图像：诸如安装在移动单元上的CCD相机，并且计算（2，3，4）的光的流 局部地区输入的图像。 然后，对象检测装置密切删除由估计从所述输入图像中的背景产生的光流由移动单元的运动产生的光流。 换句话说，对象检测装置阐明在输入图像中，其中不存在对象物的区域（“地面”）。 通过去除这样的“接地”的部分，其中的物体似乎的区域是存在（“特征”）从输入图像中提取。 最后，该物体检测装置（10）bestimmt（7）是否对象存在或不使用所提取的“功能”部分的信息流。
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2.发明授权Apparatus, program and method for detecting both stationary objects and moving objects in an image 有权设备，程序和方法，用于在图像中检测静止物体和移动物体
公开(公告)号：EP1329850B1
公开(公告)日：2013-01-23
申请号：EP02028805.6
申请日：2002-12-23
CPC分类号： G06T7/269 , G06T7/215 , G06T7/262 , G06T7/74 , G06T2207/30241
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3.发明公开Image based object detection apparatus and method 审中-公开BildbasiertesObjektdetektionsgerätund Verfahren
公开(公告)号：EP1391845A3
公开(公告)日：2011-06-22
申请号：EP03016718.3
申请日：2003-07-22
IPC分类号： G06T7/00
CPC分类号： G06T7/0002 , G06T7/0008 , G06T7/215 , G06T7/254 , G06T7/269
摘要： 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.
摘要翻译： 一种能够基于由自动移动单元拍摄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较高的区域 。 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。
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公开(公告)号：EP1391845A2
公开(公告)日：2004-02-25
申请号：EP03016718.3
申请日：2003-07-22
IPC分类号： G06T7/00
CPC分类号： G06T7/0002 , G06T7/0008 , G06T7/215 , G06T7/254 , G06T7/269
摘要： 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.
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公开(公告)号：EP1391845B1
公开(公告)日：2018-10-24
申请号：EP03016718.3
申请日：2003-07-22
IPC分类号： G06T7/00
CPC分类号： G06T7/0002 , G06T7/0008 , G06T7/215 , G06T7/254 , G06T7/269
摘要： 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.
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6.发明公开Apparatus, program and method for detecting both stationary objects and moving objects in an image 有权设备，程序和方法，用于在图像中检测静止物体和移动物体
公开(公告)号：EP1329850A2
公开(公告)日：2003-07-23
申请号：EP02028805.6
申请日：2002-12-23
IPC分类号： G06T7/20
CPC分类号： G06T7/269 , G06T7/215 , G06T7/262 , G06T7/74 , G06T2207/30241
摘要： An object detection apparatus (10)is provided for detecting both stationary objects and moving objects accurately from an image captured from a moving mobile unit.
The object detection apparatus (10) of the present invention applies Gabor filter to two or more input images captured by an imaging device (12) such as CCD camera mounted on a mobile unit, and calculates (2, 3, 4) 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 (10) determines (7) whether objects are present or not using flow information of the extracted "feature" part.
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