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WO2010013782A1 - 画像処理装置 - Google Patents

画像処理装置 Download PDF

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Publication number
WO2010013782A1
WO2010013782A1 PCT/JP2009/063590 JP2009063590W WO2010013782A1 WO 2010013782 A1 WO2010013782 A1 WO 2010013782A1 JP 2009063590 W JP2009063590 W JP 2009063590W WO 2010013782 A1 WO2010013782 A1 WO 2010013782A1
Authority
WO
WIPO (PCT)
Prior art keywords
processing device
image processing
optical flow
window
processed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2009/063590
Other languages
English (en)
French (fr)
Inventor
尚秀 内田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to CN2009801007166A priority Critical patent/CN102016921B/zh
Priority to US13/057,028 priority patent/US8670590B2/en
Priority to DE112009001727.4T priority patent/DE112009001727B4/de
Publication of WO2010013782A1 publication Critical patent/WO2010013782A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/269—Analysis of motion using gradient-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20004—Adaptive image processing
    • G06T2207/20012—Locally adaptive
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30236—Traffic on road, railway or crossing

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

　ウィンドウ単位でオプティカルフローを算出する場合にオプティカルフローの算出精度を向上させる画像処理装置を提供することを課題とする。異なる時間に撮像された複数の画像を用いて、処理対象についてウィンドウ内の画像情報に基づいてオプティカルフローを算出する画像処理装置であって、処理対象の位置情報を取得する位置取得手段と、位置取得手段で取得した位置情報に基づいてオプティカルフローを算出するためのウィンドウの大きさを設定する設定手段とを備えることを特徴とする。
PCT/JP2009/063590 2008-08-01 2009-07-30 画像処理装置 Ceased WO2010013782A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN2009801007166A CN102016921B (zh) 2008-08-01 2009-07-30 图像处理装置
US13/057,028 US8670590B2 (en) 2008-08-01 2009-07-30 Image processing device
DE112009001727.4T DE112009001727B4 (de) 2008-08-01 2009-07-30 Bildverarbeitungsvorrichtung zum Berechnen eines optischen Flusses

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008199905A JP5012718B2 (ja) 2008-08-01 2008-08-01 画像処理装置
JP2008-199905 2008-08-01

Publications (1)

Publication Number Publication Date
WO2010013782A1 true WO2010013782A1 (ja) 2010-02-04

Family

ID=41610480

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2009/063590 Ceased WO2010013782A1 (ja) 2008-08-01 2009-07-30 画像処理装置

Country Status (5)

Country Link
US (1) US8670590B2 (ja)
JP (1) JP5012718B2 (ja)
CN (1) CN102016921B (ja)
DE (1) DE112009001727B4 (ja)
WO (1) WO2010013782A1 (ja)

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Publication number Priority date Publication date Assignee Title
JP5773334B2 (ja) * 2012-01-22 2015-09-02 スズキ株式会社 オプティカルフロー処理装置及び表示半径マップ生成装置
JP5792091B2 (ja) * 2012-02-16 2015-10-07 富士通テン株式会社 物体検出装置及び物体検出方法
US9208577B2 (en) 2012-06-25 2015-12-08 Adobe Systems Incorporated 3D tracked point visualization using color and perspective size
JP2014115978A (ja) * 2012-11-19 2014-06-26 Ricoh Co Ltd 移動物体認識装置及びこれを用いた報知装置及びその移動物体認識装置に用いる移動物体認識用プログラム及び移動物体認識装置を備えた移動体
JP6100635B2 (ja) * 2012-12-13 2017-03-22 株式会社デンソー 移動体検出装置
JP6256239B2 (ja) * 2014-07-25 2018-01-10 株式会社デンソー 歩行者検出装置および歩行者検出方法
JP6389087B2 (ja) * 2014-09-11 2018-09-12 古河ユニック株式会社 作業機用ブーム衝突回避装置
US10042047B2 (en) * 2014-09-19 2018-08-07 GM Global Technology Operations LLC Doppler-based segmentation and optical flow in radar images
US10215851B2 (en) 2014-09-19 2019-02-26 GM Global Technology Operations LLC Doppler-based segmentation and optical flow in radar images
CN106909141A (zh) * 2015-12-23 2017-06-30 北京机电工程研究所 障碍物探测定位装置及避障系统
WO2018051492A1 (ja) * 2016-09-16 2018-03-22 三菱電機株式会社 オプティカルフロー精度算出装置およびオプティカルフロー精度算出方法
DE102016223079B4 (de) 2016-11-23 2024-03-28 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ermittlung einer Zuordnung zwischen einem Matrixelement einer Matrix und einem Vergleichsmatrixelement einer Vergleichsmatrix mittels Korrespondenztabelle
DE102016223071B4 (de) 2016-11-23 2019-02-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ermittlung einer Zuordnung zwischen einem Matrixelement einer Matrix und einem Vergleichsmatrixelement einer Vergleichsmatrix mittels Lesen aus mehreren Korrespondenztabellen
DE102016223074B4 (de) 2016-11-23 2019-03-28 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ermittlung einer Zuordnung zwischen einem Matrixelement einer Matrix und einem Vergleichsmatrixelement einer Vergleichsmatrix mittels Schreibprozess in mehreren Korrespondenztabellen
CN107463890B (zh) * 2017-07-20 2019-11-29 浙江零跑科技有限公司 一种基于单目前视相机的前车检测与跟踪方法
US10275691B2 (en) * 2017-08-22 2019-04-30 Northrop Grumman Systems Corporation Adaptive real-time detection and examination network (ARDEN)
US10839522B2 (en) * 2018-05-11 2020-11-17 Toyota Research Institute, Inc. Adaptive data collecting and processing system and methods
CN109243150A (zh) * 2018-09-30 2019-01-18 深圳市金豪泰科技有限公司 一种车辆预警方法及终端
DE102018221617A1 (de) 2018-12-13 2020-06-18 Robert Bosch Gmbh Verfahren zur Bestimmung einer Relativbewegung mittels einer digitalen Bilderfolge
CN111383257B (zh) * 2018-12-29 2024-06-07 顺丰科技有限公司 一种车厢装卸率确定方法和装置
WO2020170462A1 (ja) * 2019-02-22 2020-08-27 公立大学法人会津大学 動画像距離算出装置および動画像距離算出用プログラムを記録したコンピュータ読み取り可能な記録媒体
CN110322477B (zh) * 2019-06-10 2022-01-04 广州视源电子科技股份有限公司 特征点观察窗口设置方法、跟踪方法、装置、设备和介质
JP7347464B2 (ja) * 2021-03-16 2023-09-20 トヨタ自動車株式会社 画像処理装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08255250A (ja) * 1995-03-17 1996-10-01 Toyota Motor Corp 移動ベクトル抽出方法
JP2008171141A (ja) * 2007-01-10 2008-07-24 Omron Corp 画像処理装置および方法、並びに、プログラム

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JP2001213254A (ja) * 2000-01-31 2001-08-07 Yazaki Corp 車両用側方監視装置
US7266220B2 (en) * 2002-05-09 2007-09-04 Matsushita Electric Industrial Co., Ltd. Monitoring device, monitoring method and program for monitoring
CN1922633A (zh) * 2004-02-19 2007-02-28 西门子共同研究公司 使用鲁棒的信息融合从动态背景中检测正经过的车辆的系统和方法
DE102005013920B4 (de) 2004-03-26 2007-12-13 Mitsubishi Jidosha Kogyo K.K. Frontsicht-Überwachungsvorrichtung
US7602946B2 (en) * 2004-09-24 2009-10-13 Nissan Motor Co., Ltd. Motion detection apparatus and motion detection method
JP4493050B2 (ja) * 2005-06-27 2010-06-30 パイオニア株式会社 画像分析装置および画像分析方法
US7899211B2 (en) * 2005-12-07 2011-03-01 Nissan Motor Co., Ltd. Object detecting system and object detecting method
JP2007172554A (ja) 2005-12-26 2007-07-05 Toyota Motor Corp 画像処理装置、及び画像処理方法
JP2007255977A (ja) * 2006-03-22 2007-10-04 Nissan Motor Co Ltd 物体検出方法および物体検出装置
JP2008026999A (ja) 2006-07-18 2008-02-07 Sumitomo Electric Ind Ltd 障害物検出システム、及び障害物検出方法
EP2482250B1 (en) * 2009-04-15 2015-05-20 Toyota Jidosha Kabushiki Kaisha Object detection device
JP4788798B2 (ja) * 2009-04-23 2011-10-05 トヨタ自動車株式会社 物体検出装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08255250A (ja) * 1995-03-17 1996-10-01 Toyota Motor Corp 移動ベクトル抽出方法
JP2008171141A (ja) * 2007-01-10 2008-07-24 Omron Corp 画像処理装置および方法、並びに、プログラム

Also Published As

Publication number Publication date
JP5012718B2 (ja) 2012-08-29
DE112009001727T5 (de) 2011-06-16
US8670590B2 (en) 2014-03-11
CN102016921A (zh) 2011-04-13
DE112009001727B4 (de) 2014-10-30
JP2010039634A (ja) 2010-02-18
US20110135159A1 (en) 2011-06-09
CN102016921B (zh) 2013-10-09

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