Apparatus for alerting based on detecting objects approaching each other in images, alerting method, program, and non-transitory computer-readable information recording medium

1. An alerting apparatus comprising:

at least one memory configured to store program code;

at least one processor configured to access the program code and operate as instructed by the program code, the program code including:

obtainer code configured to cause the at least one processor to obtain a group of images of a group of objects imaged by a stereo camera, the group of objects including a plurality of external objects;

detector code configured to cause the at least one processor to detect objects approaching each other in accordance with positions and parallaxes of the plurality of imaged objects based on the obtained group of images; and

outputter code configured to cause the at least one processor to output an alert relating to the detected objects,

wherein the detector code is configured to cause the at least one processor to extract a group of maintained objects that maintain relative positional relationships, in accordance with the positions and the parallaxes of the plurality of imaged objects, and

in the obtained group of images, when a backward object at least partially hidden by a frontward object that is not included in the extracted group of maintained objects is included in the extracted group of maintained objects, the detector code is configured to cause the at least one processor to determine whether the backward object and the frontward object are approaching each other, in accordance with the relative positional relationships.

2. The alerting apparatus according to claim 1 , wherein

the obtainer code is configured to cause the at least one processor to obtain the group of images including stereo images imaged by the stereo camera at a predetermined time interval,

the detector code is configured to cause the at least one processor to calculate, with respect to each of the stereo images included in the obtained group of images, distances among the plurality of objects and parallaxes of individual objects in the each of the stereo images, and

the detector code is configured to cause the at least one processor to detect objects approaching each other, based on temporal change in the calculated distances and parallaxes.

3. The alerting apparatus according to claim 1 , wherein the alert represents contours of the detected objects to a display.

4. The alerting apparatus according to claim 1 , wherein the outputter code is configured to cause the at least one processor to output an alert reflecting a degree of approach, the degree representing a degree of closeness between the detected objects.

5. A detecting apparatus comprising:

at least one memory configured to store program code; and

at least one processor configured to access the program code and operate as instructed by the program code, the program code including:

obtainer code configured to cause the at least one processor to obtain a group of images of a group of objects imaged by a stereo camera, the group of objects including a plurality of external objects; and

detector code configured to cause the at least one processor to detect objects approaching each other in accordance with positions and parallaxes of the plurality of imaged objects based on the obtained group of images,

wherein the detector code is configured to cause the at least one processor to extract a group of maintained objects that maintain relative positional relationships, in accordance with the positions and the parallaxes of the plurality of imaged objects, and

in the obtained group of images, when a backward object at least partially hidden by a frontward object that is not included in the extracted group of maintained objects is included in the extracted group of maintained objects, the detector code is configured to cause the at least one processor to determine whether the backward object and the frontward object are approaching each other, in accordance with the relative positional relationships.

6. An alerting method executed by an alerting apparatus having at least one processor, the method comprising:

obtaining a group of images of a group of objects imaged by a stereo camera, the group of objects including a plurality of external objects;

detecting objects approaching each other in accordance with positions and parallaxes of the plurality of imaged objects based on the obtained group of images; and

outputting an alert relating to the detected objects,

wherein the detecting the objects comprises:

extracting a group of maintained objects that maintain relative positional relationships, in accordance with the positions and the parallaxes of the plurality of imaged objects; and

in the obtained group of images, when a backward object at least partially hidden by a frontward object that is not included in the extracted group of maintained objects is included in the extracted group of maintained objects, determining whether the backward object and the frontward object are approaching each other, in accordance with the relative positional relationships.

7. A non-transitory computer-readable information recording medium storing a program causing a computer to:

obtain a group of images of a group of objects imaged by a stereo camera, the group of objects including a plurality of external objects;

detect objects approaching each other in accordance with positions and parallaxes of the plurality of imaged objects based on the obtained group of images; and

output an alert relating to the detected objects,

wherein the detecting the objects comprises:

extracting a group of maintained objects that maintain relative positional relationships, in accordance with the positions and the parallaxes of the plurality of imaged objects; and

in the obtained group of images, when a backward object at least partially hidden by a frontward object that is not included in the extracted group of maintained objects is included in the extracted group of maintained objects, determining whether the backward object and the frontward object are approaching each other, in accordance with the relative positional relationships.