Moving distance detecting device and moving distance detecting method
A technology of moving distance and detection device, which is applied in the direction of measuring device, character and pattern recognition, radio wave measurement system, etc., and can solve problems such as incorrect moving distance
Active Publication Date: 2011-12-21
NISSAN MOTOR CO LTD
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Problems solved by technology
In this case, the movement distance is not calculated based on the same position of the vehicle, and the movement distance thus calculated is incorrect
Method used
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[0018] Embodiments according to the present invention will be described below with reference to the drawings. figure 1 is a schematic configuration diagram of the moving distance detecting device 1 according to the present embodiment, showing an example in which the moving distance detecting device 1 is mounted on a vehicle V. Such as figure 1 As shown, the moving distance detecting device 1 includes a camera (as an example of an imaging unit and imaging means) 10 , a vehicle speed sensor 20 and a calculator 30 .
[0019] figure 1 The camera 10 is shown mounted at a height h at the rear of the vehicle V such that the optical axis forms an angle θ downward with respect to the horizontal. The camera 10 is configured to photograph a predetermined area from this position. The vehicle speed sensor 20 is configured to detect the running speed of the vehicle V and calculate the running speed from the detected wheel speeds by using, for example, wheel speed sensors provided on the ...
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The present invention relates to a tavel distance detection device and a travel distance detection method. The travel distance detection device includes: an image-capturing unit configured to capture an image; an alignment unit configured to align images in position of bird's-eye view image, the images captured at different times by the image-capturing unit; and a solid object detection unit configured to detect a solid object based on difference image data between data of the images captured at the different times and aligned by the alignment unit. The solid object detection unit counts the number of pixels which each express a certain difference on the difference image data and which are arranged in a direction in which the solid object is inclined when the image of the predetermined region is converted into the bird's-eye view image, then produces a frequency distribution of the counted pixels to generate a difference waveform, and calculates a travel distance of the solid object based on time variation of the difference waveform.
Description
technical field [0001] The present invention relates to a moving distance detecting device and a moving distance detecting method for detecting a moving distance based on images captured at different times. Background technique [0002] As shown in Japanese Patent Application Laid-Open No. 2008-219063 (Patent Document 1), there has hitherto been disclosed a vehicle periphery monitoring device configured to detect a solid object around the vehicle and to detect that the solid object is stationary. Still moving. The vehicle periphery monitoring device is configured to convert two images captured at different times into a bird's-eye view image, and to register the two bird's-eye view images. Then, the vehicle periphery monitoring device acquires a difference between the registered two images, and detects the difference part as a stereoscopic object. In addition, the vehicle periphery monitoring device detects a point closest to the host vehicle in the difference portion as a ...
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IPC IPC(8): G01C11/06
CPCH04N7/18G06K9/78G06T7/2033G01S11/12G06T2207/30256G06T7/602G06T7/2053G06T2207/10016G06T7/254G06T7/62
Inventor 土谷千加夫古性裕之田中慎也
Owner NISSAN MOTOR CO LTD