Non-transitory computer readable recording medium, assessment method, and assessment device

Patent metadata

Field	Value
Publication number	US-10825191-B2
Application number	US-201916273788-A
Country	US
Kind code	B2
Filing date	Feb 12, 2019
Priority date	Mar 13, 2018
Publication date	Nov 3, 2020
Grant date	Nov 3, 2020

Abstract

An assessment device generates, based on a captured image captured by an image capturing device mounted on a moving object, shape information on subjects included in the captured image. The assessment device acquires, by referring to a storage, shape information on a static object associated with the image capturing location. The assessment device specifies, based on the generated shape information and the acquired shape information, a dynamic object that is moving from among the subjects included in the captured image and conducts an assessment related to the dynamic object based on the location in the captured image.

First claim

What is claimed is:

1. A non-transitory computer readable recording medium having stored therein an assessment program that causes a computer to execute a process comprising:
receiving a captured image captured by a stereo camera mounted on a moving object and an image capturing location of the captured image;
generating, based on the received captured image, shape information on subjects included in the received captured image;
calculating, based on the received captured image, a distance between each of the subjects included in the received captured image and the stereo camera;
acquiring shape information on a static object associated with the received image capturing location from a storage that stores therein shape information on the static object included in the received captured image corresponding to the image capturing location of the received captured image;
specifying, based on the generated shape information and the acquired shape information, a dynamic object that is moving from among the subjects included in the received captured image; and
conducting an assessment related to the dynamic object based on the location of the specified dynamic object in the received captured image, the calculated distance between each of the subjects and the stereo camera, and a moving speed of the moving object.

2. The non-transitory computer readable recording medium according to claim 1 , the process further comprising generating information related to control of the moving object based on a result of the assessment.

3. An assessment method comprising:
receiving a captured image captured by a stereo camera mounted on a moving object and an image capturing location of the captured image, using a processor;
generating, based on the received captured image, shape information on subjects included in the received captured image, using the processor;
calculating, based on the received captured image, a distance between each of the subjects included in the received captured image and the stereo camera, using the processor;
acquiring shape information on a static object associated with the received image capturing location from a storage that stores therein shape information on the static object included in the received captured image corresponding to the image capturing location of the received captured image, using the processor;
specifying, based on the generated shape information and the acquired shape information, a dynamic object that is moving from among the subjects included in the received captured image, using the processor; and
conducting an assessment related to the dynamic object based on the location of the specified dynamic object in the received captured image, the calculated distance between each of the subjects and the stereo camera, and a moving speed of the moving object, using the processor.

4. The assessment method according to claim 3 , further comprising generating information related to control of the moving object based on a result of the assessment.

5. An assessment device comprising:
a memory; and
a processor that executes a process comprising:
receiving a captured image captured by a stereo camera mounted on a moving object and an image capturing location of the captured image;
calculating, based on the received captured image, a distance between each of the subjects included in the received captured image and the stereo camera;
generating, based on the received captured image, shape information on subjects included in the captured image;
acquiring shape information on a static object associated with the received image capturing location from the memory that stores therein shape information on the static object included in the received captured image corresponding to the image capturing location of the received captured image;
specifying, based on the generated shape information and the acquired shape information, a dynamic object that is moving from among the subjects included in the received captured image; and
conducting an assessment related to the dynamic object based on the location of the specified dynamic object in the received captured image, the calculated distance between each of the subjects and the stereo camera, and a moving speed of the moving object.

6. The assessment device according to claim 5 , the process further comprising generating information related to control of the moving object based on a result of the assessment.

Assignees

• Fujitsu Ltd

Inventors

• Kataoka Masahiro
• Kato Junya
• Kozaki Takuya

Classifications

• 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

• G06V10/255

  Detecting or recognising potential candidate objects based on visual cues, e.g. shapes · CPC title

• G06T7/254 Primary

  involving subtraction of images · CPC title

• G06T7/593 Primary

  from stereo images · CPC title

• G06T2207/30261

  Obstacle · CPC title