Moving body speed derivation method and moving body speed derivation program

Patent metadata

Field	Value
Publication number	US-11893752-B2
Application number	US-202117347213-A
Country	US
Kind code	B2
Filing date	Jun 14, 2021
Priority date	Aug 24, 2020
Publication date	Feb 6, 2024
Grant date	Feb 6, 2024

Abstract

A moving body speed derivation method that causes at least one computer to execute a process, the process includes deriving a reference point in a second moving body region that is an image of a second moving body, from one image capturing the second moving body among a plurality of time-series images captured by an imaging device installed in a first moving body; deriving a position of the second moving body based on a distance between the imaging device and a feature point in the second moving body corresponding to the reference point in the second moving body region; and deriving speed of the second moving body based on a change amount of the position of the second moving body corresponding to the second moving body region included in the plurality of time-series images.

First claim

What is claimed is:

1. A moving body speed derivation method that causes at least one computer to execute a process, the process comprising:
acquiring moving image data including a plurality of time-series images captured from an imaging device installed in a first moving body;
recognizing a second moving body region included in the moving image data using a model to recognize a second moving body;
extracting a road region by applying semantic segmentation to the moving image data using a model to extract the road region;
deriving a reference point in the second moving body region in each image of the plurality of time-series images based on the road region and the second moving body region;
deriving a position of the second moving body in an actual space based on a distance between the imaging device and a feature point in the second moving body corresponding to the reference point and an absolute position of the first moving body acquired by using a global navigation satellite system; and
deriving a speed of the second moving body based on a change amount of the position of the second moving body in the actual space corresponding to the second moving body region included in the plurality of time-series images.

2. The moving body speed derivation method according to claim 1 , wherein the reference point is a point which is present on a boundary between the second moving body region and a road region and at which the second moving body is in contact with a road surface of a road corresponding to the road region.

3. The moving body speed derivation method according to claim 2 , wherein when a distance between a first reference point that is the reference point derived from an image being one of the plurality of time-series images and captured at a first time point and a second reference point that is the reference point derived from an image captured at a second time point being a time point before the first time point is equal to or greater than a predetermined distance, the second reference point is changed to a point different from the second reference point among points which are present on the boundary between the second moving body region and the road region in the image at the second time point and at which the second moving body is in contact with the road surface.

4. The moving body speed derivation method according to claim 1 , wherein the distance between the feature point and the imaging device is derived based on a position of the reference point in one of the plurality of time-series images.

5. The moving body speed derivation method according to claim 1 , wherein the position of the second moving body is determined based on a position of the imaging device, a distance between the feature point and the imaging device when viewed from above, and an angle between a line of sight of the imaging device and a straight line coupling the imaging device and the feature point when viewed from above.

6. The moving body speed derivation method according to claim 1 , wherein the first moving body and the second moving body are vehicles traveling on a road surface.

7. A non-transitory computer-readable medium storing a moving body speed derivation program that causes at least one computer to execute a process, the process comprising:
acquiring moving image data including a plurality of time-series images captured from an imaging device installed in a first moving body;
recognizing a second moving body region included in the moving image data using a model to recognize a second moving body;
extracting a road region by applying semantic segmentation to the moving image data using a model to extract the road region;
deriving a reference point in the second moving body region in each image of the plurality of time-series images based on the road region and the second moving body region;
deriving a position of the second moving body in an actual space based on a distance between the imaging device and a feature point in the second moving body corresponding to the reference point and an absolute position of the first moving body acquired by using a global navigation satellite system; and
deriving a speed of the second moving body based on a change amount of the position of the second moving body in the actual space corresponding to the second moving body region included in the plurality of time-series images.

8. The non-transitory computer-readable medium according to claim 7 , wherein the reference point is a point which is present on a boundary between the second moving body region and a road region and at which the second moving body is in contact with a road surface of a road corresponding to the road region.

9. The non-transitory computer-readable medium according to claim 8 , wherein when a distance between a first reference point that is the reference point derived from an image being one of the plurality of time-series images and captured at a first time point and a second reference point that is the reference point derived from an image captured at a second time point being a time point before the first time point is equal to or greater than a predetermined distance, the second reference point is changed to a point different from the second reference point among points which are present on the boundary between the second moving body region and the road region in the image at the second time point and at which the second moving body is in contact with the road surface.

10. The non-transitory computer-readable medium according to claim 7 , wherein the distance between the feature point and the imaging device is derived based on a position of the reference point in one of the plurality of time-series images.

11. The non-transitory computer-readable medium according to claim 7 , wherein the position of the second moving body is determined based on a position of the imaging device, a distance between the feature point and the imaging device when viewed from above, and an angle between a line of sight of the imaging device and a straight line coupling the imaging device and the feature point when viewed from above.

12. The non-transitory computer-readable medium according to claim 7 , wherein the first moving body and the second moving body are vehicles traveling on a road surface.

13. A moving body speed derivation apparatus comprising:
an imaging device installed in a first moving body;
one or more memories; and
one or more processors coupled to the one or more memories and the one or more processors configured to:
acquire moving image data including a plurality of time-series images captured from an imaging device installed in a first moving body,
recognize a second moving body region included in the moving image data using a model to recognize a second moving body,
extract a road region by applying semantic segmentation to the moving image data using a model to extract the road region,
derive a reference point in the second moving body region in each image of the plurality of time-series images based on the road region and the second moving body region,
derive a position of the second moving body in an actual space based on a distance between the imaging device and a feature point in the second moving body corresponding to the reference point and an absolute position of the first moving body acquired by using a global navigation satellite system, and
derive a speed of the second moving body based on a change amount of the position of the second moving body in the actual space corresponding to the second moving body region included in the plurality of time-series images.

14. The moving body speed derivation apparatus accordin

Assignees

• Fujitsu Ltd

Inventors

• Kanetake Jun
• Hasada Rie
• Ishida Haruyuki
• Watanabe Yasuto

Classifications

• G06T7/248 Primary

  involving reference images or patches · CPC title

• G06T7/74

  involving reference images or patches · CPC title

• G06V20/584

  of vehicle lights or traffic lights · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• G06V20/56 Primary

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title