EP0420657A2
Expired / Lapsed
EP
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Moving object detecting system
Assignee: Toshiba Corp
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Filing: 1990-09-27
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Granted: —
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Expires: 2010-09-27
Abstract
Abstract A moving object detecting system includes an image acquiring section (1), a feature extracting section (2), a background feature detecting section (3), a prediction parameter calculating section (4), a region estimating section (5), and a moving object determining section (7). The image acquiring section (1) has a mobile imaging system and acquires image frames sequentially obtained upon movement of the imaging system. The feature extracting section (2) extracts features of the acquired image frames. The background feature detecting section (3) detects a background feature from the features. The prediction parameter calculating section (4) obtains prediction parameters for predicting a motion of the background region upon movement of the imaging system in accordance with a positional relationship between the correlated background features. The region estimating section (5) estimates a region where features detected from image frames obtained by the mobile imaging system may have been present in an image frame of the immediately preceding frame by using the prediction parameters. The moving object determining section (7) determines whether a feature corresponding to the given feature is present in the estimation region.
Inventors
- 👤 Mutsumi C/O Intellectual Property Div. Watanabe
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-09 12:23
CPC Classifications
G; G06; G06T; G06T7/00; G06T7/20; G06T7/246
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
238 words
A moving object detecting system characterized by comprising: image acquiring means (1; 11-15), having an imaging system (11-13), for acquiring image frames sequentially obtained by said imaging system (11-13); feature extracting means (2; 21-24) for extracting features of each image frame acquired by said image acquiring means (1; 11-15); background feature detecting means (3; 31-34) for detecting background features belonging to a background region of the image frame from the features extracted by said feature extracting means (2; 21-24); prediction parameter calculating means (4; 41-43) for obtaining prediction parameters for predicting a motion of the background region in the image frame upon movement of said imaging system (11-13) in accordance with a positional relationship between the correlated background features between a plurality of image frames on the basis of the background features detected by said background feature detecting means (3; 31-34); region estimating means (5; 51) for estimating a region of a given feature corresponding to the feature of an image frame of an immediately preceding frame by using the prediction parameters obtained by said prediction parameter calculating means (4; 41-43) when the given feature detected from the image frame obtained by said imaging system (11-13) is assumed as a feature belonging to a background; and moving object determinin means (6, 7; 61-64,71, 72) for determining whether a feature corresponding to the given feature is present in the estimation region obtained by said region estimating means (5; 51).
Claim 2
Dependent Claim
238 words
A moving object detecting system characterized by comprising: image acquiring means (1; 11-15), having an imaging system (11-13), for acquiring image frames sequentially obtained by said imaging system (11-13); feature extracting means (2; 21-24) for extracting features of each image frame acquired by said image acquiring means (1; 11-15); background feature detecting means (3; 31-34) for detecting background features belonging to a background region of the image frame from the features extracted by said feature extracting means (2; 21-24); prediction parameter calculating means (4; 41-43) for obtaining prediction parameters for predicting a motion of the background region in the image frame upon movement of said imaging system (11-13) in accordance with a positional relationship between the correlated background features between a plurality of image frames on the basis of the background features detected by said background feature detecting means (3; 31-34); region estimating means (5; 51) for estimating a region of a given feature corresponding to the feature of an image frame of an immediately preceding frame by using the prediction parameters obtained by said prediction parameter calculating means (4; 41-43) when the given feature detected from the image frame obtained by said imaging system (11-13) is assumed as a feature belonging to a background; and moving object determinin means (6, 7; 61-64,71, 72) for determining whether a feature corresponding to the given feature is present in the estimation region obtained by said region estimating means (5; 51).
Claim 3
Dependent Claim
18 words
A system according to claim 1, characterized in that said imaging system (11-13) includes a television camera (11).
Claim 4
Dependent Claim
19 words
A system according to claim 1, characterized in that said imaging system (11-13) is mounted on a moving unit.
Claim 5
Dependent Claim
31 words
A system according to claim 3, characterized in that said image acquiring means (1; 11-15) comprises means (11-13) for acquiring image frames sequentially obtained with movement of said imaging system (11-13).
Claim 6
Dependent Claim
45 words
A system according to claim 1, characterized in that said feature extracting means (2; 21-24) includes means (21-23) for calculating spatial differential values of image information in a plurality of directions and extracting portions having larger spatial differential values than a predetermined value as features.
Claim 7
Dependent Claim
38 words
A system according to claim 1, characterized in that said background feature detecting means (3; 31-34) includes means (33) for detecting the background features belonging to a background region from the features of the plurality of image frames.
Claim 8
Dependent Claim
66 words
A system according to claim 1, characterized in that said background feature detecting means (3; 31-34) includes means (31) for displaying an image, means (32) for designating the background region in the image displayed by said image displaying means in accordance with an operator's operation, and means (33) for detecting the features belonging to the background region designated by said designating means as the background features.
Claim 9
Dependent Claim
38 words
A system according to claim 1, characterized in that said prediction parameter calculating means (4; 41-43) includes means (42) for calculating the prediction parameter on the basis of a plurality of image frames at the start of movement.
Claim 10
Dependent Claim
41 words
A system according to claim 1, characterized in that said prediction parameter calculating means (4; 41-43) includes means (41) for determining whether features are correlated to each other on the basis of a similarity between image patterns near the given feature.
Claim 11
Dependent Claim
65 words
A system according to claim 1, characterized in that said prediction parameter calculating means (4; 31, 32, 41-43) includes means (31) for displaying an image, means (32) for designating correlated features in a plurality of image frames displayed by said image displaying means, and means (41) for detecting the features of the plurality of image frames designated by said designating means as the correlated features.
Claim 12
Dependent Claim
27 words
A system according to claim 1, characterized in that said region estimating means (5; 51) includes means (5; 51) for estimating the region as a line region.
Claim 13
Dependent Claim
41 words
A system according to claim 1, characterized in that said moving object determining means (6, 7; 61-64, 71, 72) includes means (61) for determining that features for which correlated features are not present in the region are defined as new features.
Claim 14
Dependent Claim
47 words
A system according to claim 12, characterized in that said moving object determining means (6, 7; 61-64, 71, 72) includes means (61) for determining whether features belong to the moving object on the basis of the correlation of the new features between a plurality of image frames.
Claim 15
Independent Claim
192 words
A method of detecting a moving object, characterized by comprising: the image acquiring step of causing an imaging system (11-13) to sequentially obtain image frames and acquiring the image frames; the feature extracting step of extracting features of each acquired image frame; the background feature detecting step of detecting background features belonging to a background region of the image frame from the extracted features; the prediction parameter calculating step of obtaining prediction parameters for predicting a motion of the background region in the image frame upon movement of said imaging system (11-13) in accordance with a positional relationship between the correlated background features between a plurality of image frames on the basis of the background features; the region estimating step of estimating a region of a given feature corresponding to the feature of an image frame of an immediately preceding frame by using the prediction parameters when the given feature detected from the image frame obtained by said imaging system (11-13) is assumed as a feature belonging to a background; and the moving object determining step of determining whether a feature corresponding to the given feature is present in the estimation region.
Claim 16
Independent Claim
192 words
A method of detecting a moving object, characterized by comprising: the image acquiring step of causing an imaging system (11-13) to sequentially obtain image frames and acquiring the image frames; the feature extracting step of extracting features of each acquired image frame; the background feature detecting step of detecting background features belonging to a background region of the image frame from the extracted features; the prediction parameter calculating step of obtaining prediction parameters for predicting a motion of the background region in the image frame upon movement of said imaging system (11-13) in accordance with a positional relationship between the correlated background features between a plurality of image frames on the basis of the background features; the region estimating step of estimating a region of a given feature corresponding to the feature of an image frame of an immediately preceding frame by using the prediction parameters when the given feature detected from the image frame obtained by said imaging system (11-13) is assumed as a feature belonging to a background; and the moving object determining step of determining whether a feature corresponding to the given feature is present in the estimation region.
References Cited (Backward Citations)
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