Processing apparatus, processing system, processing program, and processing method

Patent metadata

Field	Value
Publication number	US-10402664-B2
Application number	US-201515311946-A
Country	US
Kind code	B2
Filing date	May 19, 2015
Priority date	May 19, 2014
Publication date	Sep 3, 2019
Grant date	Sep 3, 2019

Abstract

A processing apparatus includes a distance image acquirer, a moving-object detector, a background recognizer. The distance image acquirer acquires a distance image containing distance information of each pixel. The moving-object detector detects a moving object from the distance image. The background recognizer generates a background model in which a stationary object recognized as background of the moving object is modeled, from the distance image acquired by the distance image acquirer. The moving-object detector changes a method for detecting the moving object, based on a relative positional relation between the moving object and the background model.

First claim

The invention claimed is:

1. A processing apparatus comprising:
processing circuitry configured to
acquire a distance image containing distance information of each pixel;
detect a moving object from the distance image; and
generate a background model in which a stationary object recognized as background of the moving object is modeled, from the acquired distance image, wherein
the processing circuitry changes a method for detecting the moving object, based on a relative positional relation between the moving object and the background model,
wherein the detection of the moving object includes continuously tracking the moving object after it is initially recognized in image data using the method thus changed,

wherein, from a surrounding situation recognized by the processing circuitry, the processing circuitry is configured to
detect that the moving object has had a sudden change in orientation in a direction that is sideways to an initial traveling direction of the moving object, and
control display, on a display device, of a group of motion vectors of predicted motions of the moving object, the group of motion vectors being represented as an image of wave rings projecting away from the moving object, wherein each of the wave rings has a different display characteristic based on a respective distance of the wave ring from the moving object.

2. The processing apparatus according to claim 1 , the processing circuitry being further configured to:
generate a travel-surface situation model in which a travel surface on which the moving object is to travel is modeled, from the distance image; and
recognize a surrounding situation by use of at least one of the positional relation between the moving object and the background model, and a positional relation between the moving object and the travel-surface situation model, wherein
the processing circuitry detects the moving object, based on a result of the situation recognition.

3. A processing apparatus comprising:
processing circuitry configured to
acquire a distance image containing distance information of each pixel;
detect a moving object from the acquired distance image;
generate a background model in which a stationary object recognized as background of the moving object is modeled, from the acquired distance image;
generate a travel-surface situation model in which a travel surface on which the moving object is to travel is modeled, from the acquired distance image; and
recognize a surrounding situation by use of at least one of a positional relation between the moving object and the background model, and a positional relation between the moving object and the travel-surface situation model,
wherein the detection of the moving object includes continuously tracking the moving object after it is initially recognized in image data,

wherein, from the surrounding situation recognized by the processing circuitry, the processing circuitry is configured to
detect that the moving object has had a sudden change in orientation in a direction that is sideways to an initial traveling direction of the moving object, and
control display, on a display device, of a group of motion vectors of predicted motions of the moving object, the group of motion vectors being represented as an image of wave rings projecting away from the moving object, wherein each of the wave rings has a different display characteristic based on a respective distance of the wave ring from the moving object.

4. The processing apparatus according to claim 1 , wherein, from a surrounding situation recognized by the processing circuitry, the processing circuitry detects the moving object that has partially hidden.

5. The processing apparatus according to claim 1 , further comprising a memory to store therein history of a three-dimensional positional relation among the moving object, the travel-surface situation model, and the background model.

6. The processing apparatus according to claim 5 , wherein, from the history of the three-dimensional positional relation among the moving object, the travel-surface situation model, and the background model stored in the memory, the processing circuitry detects the moving object that has had a change in orientation thereof or has partially hidden.

7. A processing system comprising:
processing circuitry configured to
acquire a distance image containing distance information of each pixel;
generate a background model in which a stationary object recognized as background are modeled, from the acquired distance image;
change a detection method, based on a relative positional relation between a moving object detected from the distance image and the background model, and detect the moving object; and
in accordance with a result of the detection of the moving object, control a controlled device,
wherein the detection of the moving object includes continuously tracking the moving object after it is initially recognized in image data using the method thus changed,

wherein, from a surrounding situation recognized by the processing circuitry, the processing circuitry is configured to
detect that the moving object has had a sudden change in orientation in a direction that is sideways to an initial traveling direction of the moving object, and
control display, on a display device, of a group of motion vectors of predicted motions of the moving object, the group of motion vectors being represented as an image of wave rings projecting away from the moving object, wherein each of the wave rings has a different display characteristic based on a respective distance of the wave ring from the moving object.

8. A computer program product comprising a non-transitory computer-readable medium containing a processing program that causes a computer to perform a method comprising:
acquiring, by a distance image acquirer, a distance image containing distance information of each pixel;
generating, by a background recognizer, a background model in which a stationary object recognized as background is modeled, from the distance image acquired by the distance image acquirer; and
changing, based on a relative positional relation between a moving object detected from the distance image and the background model, a detection method so as to detect the moving object, by a moving-object detector,
wherein the detection of the moving object includes continuously tracking the moving object after it is initially recognized in image data using the method thus changed, and
wherein the method further includes
recognizing a surrounding situation,
detecting, based on the recognized surround situation, that the moving object has had a sudden change in orientation in a direction that is sideways to an initial traveling direction of the moving object, and

controlling display, on a display device, of a group of motion vectors of predicted motions of the moving object, the group of motion vectors being represented as an image of wave rings projecting away from the moving object, wherein each of the wave rings has a different display characteristic based on a respective distance of the wave ring from the moving object.

9. A processing method comprising:
acquiring, by a distance image acquirer, a distance image containing distance information of each pixel;
generating, by a background recognizer, a background model in which a stationary object recognized as background is modeled, from the distance image acquired by the distance image acquirer; and
changing, based on a relative positional relation between a moving object detected from the distance image and the background model, a detection method so as to detect the moving object, by a moving-object detector,
wherein the detection of the movin

Assignees

• Yokota Soichiro
• Lu Yaojie
• Ren Jie
• Takahashi Sadao
• Ishigaki Tomoko
• Ricoh Co Ltd

Inventors

• Yokota Soichiro
• Lu Yaojie
• Ren Jie
• Takahashi Sadao
• Ishigaki Tomoko

Classifications

• G06T7/285 Primary

  using a sequence of stereo image pairs · CPC title

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G06F18/22

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

• G06T2207/30261

  Obstacle · CPC title

• G06T2207/10021

  Stereoscopic video; Stereoscopic image sequence · CPC title