Image processing device and method predicting areas in which to search for parking space delimiting lines

Patent metadata

Field	Value
Publication number	US-11145041-B2
Application number	US-201916574516-A
Country	US
Kind code	B2
Filing date	Sep 18, 2019
Priority date	Dec 14, 2018
Publication date	Oct 12, 2021
Grant date	Oct 12, 2021

Abstract

An image processing device includes: a setting unit configured to set an area, as a first area, in which at least one delimiting line for delimiting a parking space is detected in a first image of plural images continuously captured while moving; and a prediction unit configured to predict, based on the first area, a second area in which the at least one delimiting line is to be detected in at least one second image of the plural images, the at least one second image being captured later in time than the first image.

First claim

What is claimed is:

1. An image processing device comprising:
a computer having a hardware processor configured to:
set an area, as a first area, in which at least one delimiting line for delimiting a parking space has been detected in a first image of a plurality of images continuously captured while an imaging device that captures the images is moving;
predict, based on the first area, a second area in which the at least one delimiting line is expected to be detected in at least one second image of the plurality of images, the at least one second image being captured later in time than the first image; and
predict a third area in which a new delimiting line is expected to be detected in the at least one second image, based on an interval between a plurality of the delimiting lines that have been previously detected, the new delimiting line being different from the previously detected delimiting lines.

2. The image processing device according to claim 1 , wherein
a position of the first area in the first image is fixed, and
positions of the second area varies within a plurality of the second images that are sequentially captured later in time than the first image.

3. The image processing device according to claim 2 , wherein
when a vehicle on which the imaging device is mounted turns, the hardware processor resets the first area being set.

4. The image processing device according to claim 3 , wherein,
when the at least one delimiting line is detected in a state where the first area has not been set, the hardware processor sets, as the first area, the area in which the at least one delimiting line is detected.

5. The image processing device according to claim 2 , wherein,
when the at least one delimiting line is detected in a state where the first area has not been set, the hardware processor sets, as the first area, the area in which the at least one delimiting line is detected.

6. The image processing device according to claim 2 , wherein the hardware processor is further configured to
detect the at least one delimiting line by searching a high-resolution area having a higher resolution than other areas in the first image, and detect the at least one delimiting line in the at least one second image by searching only the second area in the at least one second image.

7. The image processing device according to claim 1 , wherein
the hardware processor is configured to predict, based on a position of the at least one delimiting line detected in the second area, the second area in another second image captured later in time than the second image in which the at least one delimiting line in the second area has been detected.

8. The image processing device according to claim 7 , wherein
when a vehicle on which the imaging device is mounted turns, the hardware processor resets the first area being set.

9. The image processing device according to claim 8 , wherein,
when the at least one delimiting line is detected in a state where the first area has not been set, the hardware processor sets, as the first area, the area in which the at least one delimiting line is detected.

10. The image processing device according to claim 7 , wherein,
when the at least one delimiting line is detected in a state where the first area has not been set, the hardware processor sets, as the first area, the area in which the at least one delimiting line is detected.

11. The image processing device according to claim 7 , wherein the hardware processor is further configured to
detect the at least one delimiting line by searching a high-resolution area having a higher resolution than other areas in the first image, and detect the at least one delimiting line in the at least one second image by searching only the second area in the at least one second image.

12. The image processing device according to claim 1 , wherein
when a vehicle on which the imaging device is mounted turns, the hardware processor resets the first area being set.

13. The image processing device according to claim 12 , wherein,
when the at least one delimiting line is detected in a state where the first area has not been set, the hardware processor sets, as the first area, the area in which the at least one delimiting line is detected.

14. The image processing device according to claim 1 , wherein,
when the at least one delimiting line is detected in a state where the first area has not been set, hardware processor sets, as the first area, the area in which the at least one delimiting line is detected.

15. The image processing device according to claim 1 , wherein the hardware processor is further configured to
detect the at least one delimiting line by searching a high-resolution area having a higher resolution than other areas in the first image, and detect the at least one delimiting line in the at least one second image by searching only the second area in the at least one second image.

16. An image processing method performed by a hardware processor of a computer, the method comprising:
setting, as first areas, areas in which delimiting lines for delimiting a parking space have been detected in a first image of a plurality of images continuously captured while an imaging device that captures the images is moving;
predicting second areas, in which the delimiting lines are expected to be detected in a second image to be captured later in time than the first image of the plurality of images, based on the first areas; and
predicting a third area in which a new delimiting line is expected to be detected in the second image, based on an interval between a plurality of the delimiting lines that have been previously detected, the new delimiting line being different from the previously detected delimiting lines.

Assignees

• Denso Ten Ltd

Inventors

• Okada Yasutaka
• Sano Hiroaki
• Yamamoto Tetsuo
• Yoshihara Atsushi
• Kanetake Jun
• Yoshimura Ryo
• Shidori Tomoki

Classifications

• G06V20/586

  of parking space · CPC title

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G06T7/73

  using feature-based methods · CPC title

• G06T1/60

  Memory management · CPC title