Granted Patent B2

US 12,292,505 · App. 17/777,337 · Granted May 6, 2025

Inventor: Toshiyuki Nomura (Tokyo, JP)

Assignee: NEC CORPORATION

G01S17/42G06T7/70G06V10/25G06V2201/07

Abstract

Claims (108)

1. A target object detection apparatus comprising:

at least one memory storing instructions; and

at least one processor configured to execute the instructions to:

generate, from three-dimensional information acquired by processing a reflection wave of an electromagnetic wave irradiated toward an inspection target, a two-dimensional image of the inspection target viewed from a predetermined direction;

detect, from the two-dimensional image, each of at least two detection areas of a detection target object recognized by using at least two recognition means;

identify the detection target object, based on a positional relationship between the detected at least two detection areas;

generate, from the three-dimensional information, a first two-dimensional image of the inspection target when viewed from a first direction, and generate distance information to a reflection point of each of pixels constituting the first two-dimensional image;

generate, from the three-dimensional information, a second two-dimensional image of the inspection target when viewed from a second direction different from the first direction, and generate distance information to a reflection point of each of pixels constituting the second two-dimensional image;

detect each of, from the first two-dimensional image, a first detection area in which the detection target object is estimated to be present, and, from the second two-dimensional image, a second detection area in which the detection target object is estimated to be present;

estimate, with respect to the detection target object viewed from the first direction, an area of the detection target object when viewed from the second direction, based on a detection area detected and the distance information of each of positions of the detection area, and set the estimated area as an estimation area; and

identify whether the detection target object is present, based on a positional relationship between the estimation area estimated and the detection area detected when viewed from the second direction.

2. The target object detection apparatus according to claim 1 , wherein

the at least one processor is further configured to execute the instructions to:

estimate, with respect to the detection target object viewed from the second direction, an area of the detection target object when viewed from the first direction, based on a detection area detected and the distance information of each of positions of the detection area, and set the estimated area as an estimation area; and

identify whether the detection target object is present, based on a positional relationship between the estimation area and the detection area when viewed from the second direction, and a positional relationship between the estimation area estimated and the detection area detected when viewed from the first direction.

3. The target object detection apparatus according to claim 1 , wherein

the at least one processor is further configured to execute the instructions to identify the detection target object is present, when a degree of agreement between the estimation area and the detection area is equal to or more than a first threshold.

4. The target object detection apparatus according to claim 1 , wherein

the at least one processor is further configured to execute the instructions to not identify the detection target object is present, when a degree of agreement between the estimation area and the detection area is equal to or less than a second threshold.

5. The target object detection apparatus according to claim 1 , wherein the at least one processor is further configured to execute the instructions to:

cause a storage to store in advance the distance information of the detection target object; and

estimate, based on the distance information of the detection target object stored in advance by the storage, an estimation area in which the detection target object is estimated to be present at a time when the detection target object is viewed from the second direction.

6. The target object detection apparatus according to claim 1 , wherein

the recognition means includes a first detector that detects a first detection target object, and a second detector that recognizes a second detection target object different from the first detection target object, and

the at least one processor is further configured to execute the instructions to:

detect a first detection area of the first detection target object and a second detection area of the second detection target object by using the first detector and the second detector, respectively; and

identify whether the first detection target object is present, based on a positional relationship between the detected first detection area and the detected second detection area.

7. The target object detection apparatus according to claim 6 , wherein

the at least one processor is further configured to execute the instructions to:

generate, from the three-dimensional information, a first two-dimensional image of the inspection target when viewed from a first direction, generate distance information to a reflection point of each of pixels constituting the first two-dimensional image, and further generate, from the three-dimensional information, a second two-dimensional image of the inspection target when viewed from a second direction different from the first direction;

detect each of, from the first two-dimensional image, the first detection area of the first detection target object, and, from the second two-dimensional image, the second detection area of the second detection target object;

estimate an area of the first detection target object when viewed from the second direction, based on the first detection area of the first detection target object viewed from the first direction, and the distance information of each of positions of the first detection area, and set the estimated area as an estimation area; and

identify whether the first detection target object is present, based on a positional relationship between the estimation area of the first detection target object and the detection area of the second detection target object.

8. The target object detection apparatus according to claim 7 , wherein

the at least one processor is further configured to execute the instructions to identify the first detection target object is not present, when a degree of agreement between the estimation area of the first detection target object and the detection area of the second detection target object is equal to or more than a third threshold.

9. The target object detection apparatus according to claim 7 , wherein

the at least one processor is further configured to execute the instructions to identify the first detection target object is present, when a degree of agreement between the estimation area of the first detection target object and the detection area of the second detection target object is equal to or less than a fourth threshold.

10. The target object detection apparatus according to claim 1 , wherein the at least one processor is further configured to execute the instructions to:

output, when having identified the detection target object is present, a result of the identification, and do not output, when having not identified the detection target object is present, a result of the identification.

11. A target object detection method performed by a target detection apparatus and comprising:

generating, from three-dimensional information acquired by processing a reflection wave of an electromagnetic wave irradiated toward an inspection target, a two-dimensional image of the inspection target viewed from a predetermined direction;

detecting, from the two-dimensional image, each of at least two detection areas of a detection target object recognized by using at least two recognition means;

identifying the detection target object, based on a positional relationship between the detected at least two detection areas;

generating, from the three-dimensional information, a first two-dimensional image of the inspection target when viewed from a first direction, and generate distance information to a reflection point of each of pixels constituting the first two-dimensional image;

generating, from the three-dimensional information, a second two-dimensional image of the inspection target when viewed from a second direction different from the first direction, and generate distance information to a reflection point of each of pixels constituting the second two-dimensional image;

detecting each of, from the first two-dimensional image, a first detection area in which the detection target object is estimated to be present, and, from the second two-dimensional image, a second detection area in which the detection target object is estimated to be present;

estimating, with respect to the detection target object viewed from the first direction, an area of the detection target object when viewed from the second direction, based on a detection area detected and the distance information of each of positions of the detection area, and set the estimated area as an estimation area; and

identifying whether the detection target object is present, based on a positional relationship between the estimation area estimated and the detection area detected when viewed from the second direction.

12. The target object detection method according to claim 11 , further comprising:

estimating, with respect to the detection target object viewed from the second direction, an area of the detection target object when viewed from the first direction, based on a detected detection area and the distance information of each of positions of the detection area, and setting the estimated area as an estimation area; and

identifying whether the detection target object is present, based on a positional relationship between the estimation area and the detection area when viewed from the second direction, and a positional relationship between the estimated estimation area and the detected detection area when viewed from the first direction.

13. The target object detection method according to claim 11 , further comprising

identifying the detection target object is present, when a degree of agreement between the estimation area and the detection area is equal to or more than a first threshold.

14. The target object detection method according to claim 11 , further comprising

not identifying the detection target object is present, when a degree of agreement between the estimation area and the detection area is equal to or less than a second threshold.

15. The target object detection method according to claim 11 , further comprising:

storing in advance the distance information of the detection target object in a storage apparatus; and

estimating, based on the distance information of the detection target object stored in advance in the storage apparatus, an estimation area in which the detection target object is estimated to be present at a time when the detection target object is viewed from the second direction.

16. The target object detection method according to claim 11 , wherein

the recognition means includes a first detector that detects a first detection target object, and a second detector that recognizes a second detection target object different from the first detection target object, and

the target object detection method further comprises:

detecting a first detection area of the first detection target object and a second detection area of the second detection target object by using the first detector and the second detector, respectively; and

identifying whether the first detection target object is present, based on a positional relationship between the detected first detection area and the detected second detection area.

17. The target object detection method according to claim 16 , further comprising:

generating, from the three-dimensional information, a first two-dimensional image of the inspection target when viewed from a first direction, generating distance information to a reflection point of each of pixels constituting the first two-dimensional image, and further generating, from the three-dimensional information, a second two-dimensional image of the inspection target when viewed from a second direction different from the first direction;

detecting each of, from the first two-dimensional image, the first detection area of the first detection target object, and, from the second two-dimensional image, the second detection area of the second detection target object;

estimating an area of the first detection target object when viewed from the second direction, based on the first detection area of the first detection target object viewed from the first direction, and the distance information of each of positions of the first detection area, and setting the estimated area as an estimation area; and

identifying whether the first detection target object is present, based on a positional relationship between the estimation area of the first detection target object and the detection area of the second detection target object.

18. The target object detection method according to claim 17 , further comprising

identifying the first detection target object is not present, when a degree of agreement between the estimation area of the first detection target object and the detection area of the second detection target object is equal to or more than a third threshold.

19. The target object detection method according to claim 17 , further comprising

identifying the first detection target object is present, when a degree of agreement between the estimation area of the first detection target object and the detection area of the second detection target object is equal to or less than a fourth threshold.

20. The target object detection method according to claim 11 , further comprising

outputting, when having identified the detection target object is present, a result of the identification, and not outputting, when having not identified the detection target object is present, a result of the identification.

21. A non-transitory computer-readable storage medium storing a program executable by a computer to perform processing comprising:

generating, from three-dimensional information acquired by processing a reflection wave of an electromagnetic wave irradiated toward an inspection target, a two-dimensional image of the inspection target viewed from a predetermined direction;

detecting, from the two-dimensional image, each of at least two detection areas of a detection target object recognized by using at least two recognition means;

identifying the detection target object, based on a positional relationship between the detected at least two detection areas;

generating, from the three-dimensional information, a first two-dimensional image of the inspection target when viewed from a first direction, and generate distance information to a reflection point of each of pixels constituting the first two-dimensional image;

generating, from the three-dimensional information, a second two-dimensional image of the inspection target when viewed from a second direction different from the first direction, and generate distance information to a reflection point of each of pixels constituting the second two-dimensional image;

detecting each of, from the first two-dimensional image, a first detection area in which the detection target object is estimated to be present, and, from the second two-dimensional image, a second detection area in which the detection target object is estimated to be present;

estimating, with respect to the detection target object viewed from the first direction, an area of the detection target object when viewed from the second direction, based on a detection area detected and the distance information of each of positions of the detection area, and set the estimated area as an estimation area; and

identifying whether the detection target object is present, based on a positional relationship between the estimation area estimated and the detection area detected when viewed from the second direction.

22. The non-transitory computer-readable storage medium according to claim 21 , wherein the processing further comprises:

estimating, with respect to the detection target object viewed from the second direction, an area of the detection target object when viewed from the first direction, based on a detected detection area and the distance information of each of positions of the detection area, and setting the estimated area as an estimation area; and

identifying whether the detection target object is present, based on a positional relationship between the estimation area and the detection area when viewed from the second direction, and a positional relationship between the estimated estimation area and the detected detection area when viewed from the first direction.

23. The non-transitory computer-readable storage medium according to claim 21 , wherein the processing further comprises:

identifying the detection target object is present, when a degree of agreement between the estimation area and the detection area is equal to or more than a first threshold.

24. The non-transitory computer-readable storage medium according to claim 21 , wherein the processing further comprises:

not identifying the detection target object is present, when a degree of agreement between the estimation area and the detection area is equal to or less than a second threshold.

25. The non-transitory computer-readable storage medium according to claim 21 , wherein the processing further comprises: storing in advance the distance information of the detection target object in a storage apparatus;

estimating, based on the distance information of the detection target object stored in advance in the storage apparatus, an estimation area in which the detection target object is estimated to be present at a time when the detection target object is viewed from the second direction.

26. The non-transitory computer-readable storage medium according to claim 21 , wherein

the recognition means includes a first detector that detects a first detection target object, and a second detector that recognizes a second detection target object different from the first detection target object, and

the processing further comprises:

for detecting a first detection area of the first detection target object and a second detection area of the second detection target object by using the first detector and the second detector, respectively; and

identifying whether the first detection target object is present, based on a positional relationship between the detected first detection area and the detected second detection area.

27. The non-transitory computer-readable storage medium according to claim 26 , wherein the processing further comprises:

generating, from the three-dimensional information, a first two-dimensional image of the inspection target when viewed from a first direction, generating distance information to a reflection point of each of pixels constituting the first two-dimensional image, and generating, from the three-dimensional information, a second two-dimensional image of the inspection target when viewed from a second direction different from the first direction;

detecting each of, from the first two-dimensional image, the first detection area of the first detection target object, and, from the second two-dimensional image, the second detection area of the second detection target object;

estimating an area of the first detection target object when viewed from the second direction, based on the first detection area of the first detection target object viewed from the first direction, and the distance information of each of positions of the first detection area, and setting the estimated area as an estimation area; and

identifying whether the first detection target object is present, based on a positional relationship between the estimation area of the first detection target object and the detection area of the second detection target object.

28. The non-transitory computer-readable storage medium according to claim 27 , wherein the processing further comprises:

identifying the first detection target object is not present, when a degree of agreement between the estimation area of the first detection target object and the detection area of the second detection target object is equal to or more than a third threshold.

29. The non-transitory computer-readable storage medium according to claim 27 , wherein the processing further comprises:

identifying the first detection target object is present, when a degree of agreement between the estimation area of the first detection target object and the detection area of the second detection target object is equal to or less than a fourth threshold.

30. The non-transitory computer-readable storage medium according to claim 21 , wherein the processing further comprises:

outputting, when having identified the detection target object is present, a result of the identification, and not outputting, when having not identified as not the detection target object is present, a result of the identification.

Assignments (1)

Continuity (1)

References Cited (13)