Object Detection Apparatus Trajectory Optical Flow Matching
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing vehicle collision avoidance systems using millimeter-wave radar and monocular cameras may mistakenly recognize different objects as the same due to proximity, leading to inaccurate object detection.
Innovation Solution
An object detection apparatus that estimates the trajectory of objects detected by electromagnetic waves and processes camera images to acquire optical flows, determining whether the movement directions of feature points match, thereby accurately identifying if objects detected by radar and camera are the same.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If objects detected by radar and camera are determined to be the same based on proximity alone, then object detection speed is improved, but detection accuracy deteriorates due to false recognition of different objects as the same
Solution Approach 1:
The invention changes the parameters used for object identification from simple proximity-based criteria to multiple parameters including trajectory information from radar and optical flow information from camera. By comparing movement directions and trajectories of detected objects with surrounding feature points, the system maintains fast detection speed while improving identification accuracy to distinguish between different objects in proximity.
2Measurement precision
If multiple detection criteria are used to improve object identification accuracy, then detection precision is improved, but system complexity increases
Solution Approach 1:
The invention introduces trajectory estimation for radar-detected objects and optical flow calculation for camera-detected objects as intermediary processes. These intermediaries provide movement direction information that serves as a bridge between the two detection systems, enabling accurate object identification through comparison without requiring complex integration of multiple detection criteria. The intermediary trajectory and optical flow data simplify the matching process while maintaining high accuracy.
Data Source
AI summary
In an object detection apparatus, a first trajectory estimation unit estimates a trajectory of a first object detected by an electromagnetic wave sensor. An optical flow acquisition unit image-processes a captured image acquired from a camera to acquire movement directions based on optical flows of feature points in the captured image. A movement direction match determination unit determines whether or not a match occurs between a movement direction based on the optical flows and a movement direction based on the trajectory of the first object. If a match occurs between the movement direction based on the optical flows of the plurality of feature points and the movement direction based on the trajectory of the first object, a sameness determination unit determines that a second object identified by the plurality of feature points and the first object are a same object.