Method and apparatus for detecting a pedestrian by a vehicle during night driving

Patent metadata

Field	Value
Publication number	US-10150415-B2
Application number	US-201615391310-A
Country	US
Kind code	B2
Filing date	Dec 27, 2016
Priority date	Aug 25, 2014
Publication date	Dec 11, 2018
Grant date	Dec 11, 2018

Abstract

A method and an apparatus for detecting a pedestrian by a vehicle during night driving are provided, in which the apparatus includes: a first camera configured to take a first image including color information of a vicinity of the vehicle during night driving; a second camera configured to take a second image including thermal distribution information of the vicinity of the vehicle; a pedestrian detector configured to detect a non-pedestrian area by using the color information from the first image and detect a pedestrian area by excluding the non-pedestrian area from the second image; and a display configured to match and display the pedestrian area on the second image.

First claim

What is claimed is:

1. An apparatus for detecting a pedestrian by a vehicle during night driving, comprising:
a first camera configured to take a first image including color information of a vicinity of the vehicle during night driving;
a second camera configured to take a second image including thermal distribution information of the vicinity of the vehicle;
a pedestrian detector configured to detect a non-pedestrian area by using the color information from the first image and detect a pedestrian area by excluding the non-pedestrian area from the second image; and
a display configured to match and display the pedestrian area on the second image,
wherein the pedestrian detector comprises:
an image matcher configured to match the first image and the second image by matching corresponding coordinates of the first image and the second image;
a non-pedestrian area detector configured to detect an area in which a color value is more than a reference value as the non-pedestrian area from the first image based on the color information of the first image; and
an attention area extractor configured to extract an attention area by excluding the non-pedestrian area from the second image.

2. The apparatus of claim 1 , wherein the pedestrian detector further comprises a pedestrian area extractor configured to extract the pedestrian area from the attention area.

3. The apparatus of claim 1 , wherein the first camera includes one or more of an infrared camera, a far-infrared camera, and near-infrared camera.

4. The apparatus of claim 1 , wherein the image matcher calculates a real coordinate of an object from a coordinate of the first image by using inside and outside parameters of the first camera and a real distance between a virtual starting point and the object.

5. The apparatus of claim 4 , wherein the virtual starting point is a central point between points representing locations of the first and second cameras, in which a vertical line from the points of the first camera and the second camera and planes of the first image and the second image meet.

6. The apparatus of claim 2 , wherein the image matcher calculates a corresponding coordinate of the second image corresponding to the coordinate of the first image by using the real coordinate of the object, inside and outside parameters of the second camera, and the real distance.

7. A method for detecting a pedestrian by a vehicle during night driving, comprising:
taking a first image and a second image of a vicinity of the vehicle through a first camera and a second camera, respectively, during night driving;
matching the first image and the second image by matching corresponding coordinates of the first image and the second image;
detecting a non-pedestrian area by using color information of the first image;
excluding the non-pedestrian area from the second image;
detecting a pedestrian area from the second image excluding the non-pedestrian area; and
matching and displaying the pedestrian area on the first image,
wherein the detecting the non-pedestrian area includes detecting an area in which a color value is more than a reference value as the non-pedestrian area from the first image.

8. The method according to claim 7 , wherein the matching the first image and the second image comprises calculating a real coordinate of an object from a coordinate of the first image by using inside and outside parameters of the first camera and a real distance between a virtual starting point and the object.

9. The method according to claim 8 , wherein the matching the first image and the second image further comprises calculating a corresponding coordinate of the second image corresponding to the coordinate of the first image by using a real coordinate of the object, inside and outside parameters of the second camera, and the real distance.

10. The method according to claim 8 , wherein the virtual starting point is a central point between points representing locations of the first and second cameras, in which a vertical line from starting points of the first camera and the second camera and planes of the first image and the second image meet.

Assignees

• Hyundai Motor Co Ltd

Inventors

• Oh Young Chul
• Heo Myung Seon
• Lee Wan Jae
• You Byung Yong

Classifications

• G06F18/22

  Matching criteria, e.g. proximity measures · CPC title

• H04N23/11

  for generating image signals from visible and infrared light wavelengths · CPC title

• B60R2300/303

  using joined images, e.g. multiple camera images · CPC title

• B60R2300/102

  using 360 degree surveillance camera system · CPC title

• B60R2300/307

  virtually distinguishing relevant parts of a scene from the background of the scene · CPC title