Object type determination apparatus, vehicle, object type determination method, and program for determining object type
View Patent ↗An object type determination apparatus, an object type determination method, a vehicle, and a program for determining an object type, capable of accurately determining the type of the object by appropriately determining periodicity in movement of the object from images, are provided. The object type determination apparatus includes an object area extracting means ( 11 ) for extracting an area of an object from an image picked up by an image pick-up means ( 2 R, 2 L), an object end point extracting means ( 12 ) for extracting an end point of an image portion of the object from the extracted object area, an object periodicity determination means ( 13 ) for calculating time series data of a feature value representing a size of the object using the end point of the image portion of the object extracted by the object end point extracting means ( 12 ) from the area of the object extracted by the object area extracting means ( 11 ) for respective ones of time series images picked up by the image pick-up means ( 2 R, 2 L) to determine whether the feature value changes with prescribed periodicity, and a living body determination means ( 14 ) for determining the object having the feature value determined to change with periodicity as a living body.
1. An object type determination apparatus for determining a type of an object the image of which is picked up by an image pick-up means, comprising:
an object area extracting means for extracting a body area from an image picked up by the image pick-up means;
an object end point extracting means for extracting an end point of an image portion of the body area;
an object periodicity determination means for calculating time series data of a feature value indicative of the overall size of the body area using the end point of the image portion of the body area for respective ones of time series images picked up by the image pick-up means, to determine whether the feature value changes with prescribed periodicity; and
a living body determination means for determining the body area having the feature value which is determined to change with periodicity by the object periodicity determination means as a living body.
2. The object type determination apparatus according to claim 1 , wherein the object periodicity determination means uses a width of the image portion of the body area in a lower part area in the body area as the feature value representing the size of the image portion of the body area.
3. The object type determination apparatus according to claim 1 , wherein the object periodicity determination means uses a height of the image portion of the body area as the feature value representing the size of the image portion of the body area.
4. The object type determination apparatus according to claim 1 , comprising a first specific site extracting means for extracting an image portion of a specific site of the body area, wherein
the object end point extracting means extracts an end point of the image portion of the specific site extracted by the first specific site extracting means, and
the object periodicity determination means uses a height of the image portion of the specific site as the feature value representing the size of the image portion of the body area.
5. The object type determination apparatus according to claim 1 , comprising a paired-site extracting means for extracting image portions of a pair of specific sites of the body area, wherein
the object end point extracting means extracts end points of the image portions of the pair of specific sites extracted by the paired-site extracting means, and
the object periodicity determination means uses a difference in height of the image portions of the pair of specific sites as the feature value representing the size of the body area.
6. The object type determination apparatus according to claim 1 , wherein the object periodicity determination means has a plurality of determination conditions for determining whether the feature value representing the size of the image portion of the body area changes with prescribed periodicity based on the time series data of the feature value, and in the case where a result of the determination according to at least a predetermined number of determination conditions among the plurality of determination conditions indicates that the feature value changes with prescribed periodicity, the object periodicity determination means determines that the feature value has prescribed periodicity.
7. The object type determination apparatus according to claim 6 , wherein the object periodicity determination means uses, as the determination conditions, at least one of a determination condition having a width of an image portion of the body area in a lower part area in the body area as the feature value, a determination condition having a height of the image portion of the body area as the feature value, a determination condition having a height of an image portion of a specific site of the body area as the feature value, and a determination condition having a difference in height of image portions of a pair of specific sites of the body area as the feature value.
8. The object type determination apparatus according to claim 1 , wherein the object end point extracting means extracts an end point of the image portion of the body area by performing edge extracting processing on the body area.
9. The object type determination apparatus according to claim 1 , wherein
the object area extracting means sets a plurality of mask areas in each of two images picked up at different times, and performs a correlation operation for a respective pair of the mask areas set in the corresponding positions in the two images to extract the body area, and
the object end point extracting means uses positional information of the plurality of mask areas included in the body area to extract an end point of the image portion of the body area.
10. The object type determination apparatus according to claim 1 , wherein the object periodicity determination means uses an upper part area in an area of a first object extracted from one of two images picked up at different times as a template to extract an area of a second object having correlation with the first object from the other one of the two images by template matching to associate the objects in the different times with each other, to thereby calculate the time series data of the feature value representing the size of the image portion of the body area.
11. The object type determination apparatus according to claim 1 , wherein
the object periodicity determination means determines whether a maximum change amount of a converted value of the feature value in a real space is within a predetermined range, and
the living body determination means determines an object for which the object periodicity determination means determines that the feature value changes with periodicity and that the maximum change amount of the converted value of the feature value in the real space is within the predetermined range as a living body.
12. The object type determination apparatus according to claim 1 , wherein the image pick-up means is an infrared camera.
13. A vehicle having the object type determination apparatus as recited in claim 1 mounted thereon.
14. An object type determination method for determining a type of an object the image of which is picked up by an image pick-up means, comprising:
an object area extracting step of extracting a body area from an image picked up by the image pick-up means;
an object end point extracting step of extracting an end point of an image portion of the body area;
an object periodicity determining step of calculating time series data of a feature value indicative of the overall size of the body area using the end point of the image portion of the body area for respective ones of time series images picked up by the image pick-up means, to determine whether the feature value changes with prescribed periodicity; and
a living body determining step of determining the body area having the feature value which is determined to change with periodicity in the object periodicity determining step as a living body.
15. A system comprising an image pick-up means, a computer processor and a non-transitory computer readable medium having computer instructions for determining a type of an object in an image picked up by the image pick-up means, the computer instructions causing the computer processor to execute:
object area extracting processing of extracting a body area from an image picked up by the image pick-up means;
object end point extracting processing of extracting an end point of the image portion of the body area;
object periodicity determination processing of calculating time series data of a feature value indicative of the overall size of the body area using the end point of the image portion of the body area for respective ones of time series images picked up by the image pick-up means, to determine whether the feature value changes with prescribed periodicity; and
living body determination processing of determining the body area having the feature value which is determined to change with periodicity in the object periodicity determination processing as a living body.
16. An object type determination apparatus for determining a type of an object the image of which is picked up by an image pick-up element, comprising:
an object area extracting element configured to extract a body area from an image picked up by the image pick-up element;
an object end point extracting element configured to extract an end point of an image portion of the body area;
an object periodicity determination element configured to calculate time series data of a feature value indicative of the overall size of the body area using the end point of the image portion of the body area for respective ones of time series images picked up by the image pick-up element, to determine whether the feature value changes with prescribed periodicity; and
a living body determination element configured to determine the body area having the feature value which is determined to change with periodicity by the object periodicity determination element as a living body.
17. An object type determination apparatus for determining a type of an object the image of which is picked up by an image pick-up means, comprising:
an object area extracting means for extracting an area of an object from an image picked up by the image pick-up means;
a paired-site extracting means for extracting image portions of a pair of specific sites of the object from the area of the object extracted by the object area extracting means;
an object end point extracting means for extracting an end point of an image portion of the object from the area of the object extracted by the object area extracting means;
an object periodicity determination means for calculating time series data of a feature value representing a size of the image portion of the object using the end point of the image portion of the object extracted by the object end point extracting means from the area of the object extracted by the object area extracting means for respective ones of time series images picked up by the image pick-up means, to determine whether the feature value changes with prescribed periodicity; and
a living body determination means for determining the object having the feature value which is determined to change with periodicity by the object periodicity determination means as a living body, wherein
the object end point extracting means extracts end points of the image portions of the pair of specific sites extracted by the paired-site extracting means, and
the object periodicity determination means uses a difference in height of the image portions of the pair of specific sites as the feature value representing the size of the object.
18. An object type determination apparatus for determining a type of an object the image of which is picked up by an image pick-up element, comprising:
an object area extracting element configured to extract an area of an object from an image picked up by the image pick-up element;
a paired-site extracting element configured to extract image portions of a pair of specific sites of the object from the area of the object extracted by the object area extracting element;
an object end point extracting element configured to extract an end point of an image portion of the object from the area of the object extracted by the object area extracting element;
an object periodicity determination element configured to calculate time series data of a feature value representing a size of the image portion of the object using the end point of the image portion of the object extracted by the object end point extracting element from the area of the object extracted by the object area extracting element for respective ones of time series images picked up by the image pick-up element, to determine whether the feature value changes with prescribed periodicity; and
a living body determination element configured to determine the object having the feature value which is determined to change with periodicity by the object periodicity determination element as a living body, wherein
the object end point extracting element extracts end points of the image portions of the pair of specific sites extracted by the paired-site extracting element, and
the object periodicity determination element uses a difference in height of the image portions of the pair of specific sites as the feature value representing the size of the object.