Patent US6546115B1 successfully refreshed from Google Patents.
US6546115B1
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Method of updating reference background image, method of detecting entering objects and system for detecting entering objects using the methods
Assignee: Kokusai Denki Electric Inc
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Filing: 1999-09-09
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Granted: 2003-04-08
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Expires: 2019-09-09
Abstract
Abstract A method of updating a reference background image used for detecting objects entering an image pickup view field based on the binary image generated from the difference between an input image and the reference background image of the input image. The image pickup view field is divided into a plurality of view field areas, and a reference background image corresponding to each of the fixed divided view field areas is updated. An entering object detection apparatus using this method has an input image processing unit including an image memory storing an input image from an image input unit, a program memory storing the program for activating the entering object detecting unit, a work memory and a central processing unit activating the entering object detecting unit in accordance with the program. The processing unit has an entering object detecting unit determining intensity difference for each pixel between the input image and the reference background image not including an entering object to be detected and detecting an area with the difference larger than a predetermined threshold as an entering object, a dividing unit dividing the image pickup view field of the image input unit into a plurality of view field areas, an image change detecting unit detecting the change of the image in each of the divided view field areas, and a reference background image updating unit updating each portion of the reference background image corresponding to each of the divided view field areas associated with the portion of the input image free of the image change, wherein the entering object detecting unit detects entering objects based on the updated reference background image.
Inventors
- 👤 Wataru Ito
- 👤 Hiromasa Yamada
- 👤 Hirotada Ueda
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 14:53
CPC Classifications
G; G08; G08B; G08B13/00; G08B13/18; G08B13/189; G08B13/194; G08B13/196; G08B13/19602; G08B13/19604; G08B13/19678; G08B13/19691
Claims Analysis
Total Claims: 26
Claim 1
Independent Claim
130 words
A method of updating a reference background image for use in detecting an object entering an image pickup view field of an image pickup device based on a difference between an input image from said image pickup device and a reference background image of said input image, comprising the steps of: displaying said image pickup view field on a display; dividing said image pickup view field into a plurality of view field areas based on at least one of predetermined position information and time information of said image pickup view field displayed on said display; detecting whether said object from said input image exists with each of said divided view field areas; and updating divided view field areas of the reference background image in which said object is not detected.
Claim 2
Independent Claim
130 words
A method of updating a reference background image for use in detecting an object entering an image pickup view field of an image pickup device based on a difference between an input image from said image pickup device and a reference background image of said input image, comprising the steps of: displaying said image pickup view field on a display; dividing said image pickup view field into a plurality of view field areas based on at least one of predetermined position information and time information of said image pickup view field displayed on said display; detecting whether said object from said input image exists with each of said divided view field areas; and updating divided view field areas of the reference background image in which said object is not detected.
Claim 3
Dependent Claim
21 words
A method according to claim 1 , wherein said detecting step includes the step of detecting a movement of said object.
Claim 4
Dependent Claim
28 words
A method according to claim 1 , wherein said predetermined position information is one or more boundary lines substantially parallel to the direction of movement of said object.
Claim 5
Dependent Claim
23 words
A method according to claim 1 , wherein said predetermined position information is information relating to the average movement range of said object.
Claim 6
Dependent Claim
55 words
A method according to claim 1 , wherein said predetermined position information is one or more boundary lines substantially parallel to the direction of movement of said object, said method further comprising the step of: sub-dividing each of said divided new field areas based on information relating to the average movement range of said object.
Claim 7
Dependent Claim
27 words
A method according to claim 1 , further comprising the step of: displaying the boundary of said divided view field areas on said display in different colors.
Claim 8
Dependent Claim
26 words
A method according to claim 3 , wherein said object is a vehicle moving on a road and said boundary lines is that of a roadway.
Claim 9
Independent Claim
172 words
A system for updating a reference background image for use in detecting an object entering an image pickup view field based on a difference between an input image and a reference background image of said input image, said system comprising: an image pickup device for generating said input image; a processing unit coupled with said image pickup device for processing said input image to detect said object; and a display unit coupled with said processing unit on which said image pickup view field is displayed, wherein said processing unit comprises: a dividing unit for dividing said image pickup view field into a plurality of view field areas based on at least one of predetermined position information and time information of said image pickup view field displayed on said display, a detecting unit for detecting whether said object from said input image exists within each of said divided view field areas, and an updating unit for updating divided view field areas of the reference background image in which said object is not detected.
Claim 10
Independent Claim
172 words
A system for updating a reference background image for use in detecting an object entering an image pickup view field based on a difference between an input image and a reference background image of said input image, said system comprising: an image pickup device for generating said input image; a processing unit coupled with said image pickup device for processing said input image to detect said object; and a display unit coupled with said processing unit on which said image pickup view field is displayed, wherein said processing unit comprises: a dividing unit for dividing said image pickup view field into a plurality of view field areas based on at least one of predetermined position information and time information of said image pickup view field displayed on said display, a detecting unit for detecting whether said object from said input image exists within each of said divided view field areas, and an updating unit for updating divided view field areas of the reference background image in which said object is not detected.
Claim 11
Dependent Claim
42 words
A system according to claim 8 , wherein at least one of said predetermined position information and time information is either one of average value of movement of said object and distance covered by said object for a predetermined unit of time.
Claim 12
Dependent Claim
63 words
A system according to claim 8 , wherein said updating unit comprises: an image change detection unit for detecting a change of said input image within each of said divided view field areas; and a background image updating unit for updating part of said reference background image corresponding to each of said divided view field areas in which said object is not detected.
Claim 13
Dependent Claim
137 words
A computer readable medium having program code means executable by a computer embodied therein for detecting an object in an image pickup view field based on a difference between an input image and a reference background image of said input image, comprising: first code means for displaying said image pickup view field on a display; second code means for dividing said image pickup view field into a plurality of view field areas based on at least one of predetermined position information and time information of said image pickup view field displayed on said display; third code means for detecting whether said object from said input image exists within each of said divided view field areas; and fourth code means for updating divided view field areas of the reference background image in which said object is not detected.
Claim 14
Dependent Claim
137 words
A computer readable medium having program code means executable by a computer embodied therein for detecting an object in an image pickup view field based on a difference between an input image and a reference background image of said input image, comprising: first code means for displaying said image pickup view field on a display; second code means for dividing said image pickup view field into a plurality of view field areas based on at least one of predetermined position information and time information of said image pickup view field displayed on said display; third code means for detecting whether said object from said input image exists within each of said divided view field areas; and fourth code means for updating divided view field areas of the reference background image in which said object is not detected.
Claim 15
Dependent Claim
62 words
A computer readable medium according to claim 11 , wherein said fourth code means comprises: fifth code means for detecting a change of said input image within each of said divided view field areas; and sixth code means for updating part of said reference background image corresponding to each of said divided view field areas in which said object is not detected.
Claim 16
Independent Claim
141 words
A method of updating a reference background image for use in detecting an object entering an image pickup view field of an image pickup device based on a difference between an input image from said image pickup device and a reference background image of said input image, comprising the steps of: displaying said image pickup view field on a display; dividing said image pickup view field into a plurality of view field areas based on at least one of predetermined position information and time information of said image pickup view field displayed on said display; detecting whether said object from said input image exists within each of said divided view field areas; and updating each of said divided view field areas of the reference background image in which said object is not detected in order to detect a next entering object.
Claim 17
Independent Claim
141 words
A method of updating a reference background image for use in detecting an object entering an image pickup view field of an image pickup device based on a difference between an input image from said image pickup device and a reference background image of said input image, comprising the steps of: displaying said image pickup view field on a display; dividing said image pickup view field into a plurality of view field areas based on at least one of predetermined position information and time information of said image pickup view field displayed on said display; detecting whether said object from said input image exists within each of said divided view field areas; and updating each of said divided view field areas of the reference background image in which said object is not detected in order to detect a next entering object.
Claim 18
Dependent Claim
66 words
A method according to claim 13 , wherein said updating step comprises the steps of: detecting a change of the image signal of an input image portion corresponding to each of said divided view field areas; and updating a portion of said reference background image corresponding to each of said divided view areas corresponding to said input image portion in which said object is not detected.
Claim 19
Dependent Claim
19 words
A method according to claim 13 , wherein said change of said image signal is movement of said object.
Claim 20
Dependent Claim
37 words
A method according to claim 13 , wherein said dividing step comprises the step of: dividing said image pickup view field by one or more boundary lines substantially parallel to the direction of movement of said object.
Claim 21
Dependent Claim
34 words
A method according to claim 13 , wherein said dividing step comprises the step of: dividing said image pickup view field by an average movement range of said object during a predetermined unit time.
Claim 22
Dependent Claim
54 words
A method according to claim 13 , wherein said dividing step comprises the step of: dividing said view field by one or more boundary lines substantially parallel to the direction of movement of said object, and sub-dividing said divided view field by an average movement range of said object during each predetermined unit time.
Claim 23
Dependent Claim
36 words
A method according to claim 13 , wherein said input image includes at least a lane, and said dividing step comprises the step of: dividing said image pickup view field by one or more lane boundaries.
Claim 24
Dependent Claim
41 words
A method according to claim 13 , wherein said input image includes a lane, and said dividing step comprises the step of: dividing said image pickup view field by an average movement range of a vehicle during a predetermined unit time.
Claim 25
Dependent Claim
56 words
A method according to claim 13 , wherein said input image includes a lane, and said dividing step comprises the step of: dividing said image pickup view field by one or more lane boundaries, and sub-dividing said divided image pickup view field by an average movement range of the vehicle during a predetermined unit of time.
Claim 26
Dependent Claim
52 words
A method according to claim 13 , wherein said dividing step divides said image pickup view field into a plurality of view field areas based on at least one of the average direction of movement of said object and the distance covered by said entering object during a predetermined unit of time.
References Cited (Backward Citations)
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| 3.5 Years (Year 4) | 2006-04-07 | 2006-10-07 | 2007-04-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2010-04-07 | 2010-10-07 | 2011-04-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2014-04-07 | 2014-10-07 | 2015-04-08 | $7700.00 | Window Closed / Lapsed |