The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 13, 2006
Filed:
Dec. 17, 2002
Hiroshi Tsujino, Saitama, JP;
Hiroshi Kondo, Saitama, JP;
Atsushi Miura, Saitama, JP;
Shinichi Nagai, Saitama, JP;
Koji Akatsuka, Saitama, JP;
Hiroshi Tsujino, Saitama, JP;
Hiroshi Kondo, Saitama, JP;
Atsushi Miura, Saitama, JP;
Shinichi Nagai, Saitama, JP;
Koji Akatsuka, Saitama, JP;
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Abstract
An object detection apparatus is provided for detecting both stationary objects and moving objects accurately from an image captured from a moving mobile unit. The object detection apparatus of the present invention applies Gabor filter to two or more input images captured by an imaging device such as CCD camera mounted on a mobile unit, and calculates optical flow of local areas in the input images. Then the object detection apparatus closely removes optical flow produced by motion of the mobile unit by estimating optical flow produced from background of the input images. In other words, the object detection apparatus clarifies the area where object is not present ('ground') in the input images. By removing such 'ground' part, the area where objects seems to be present (“feature”) is extracted from the input images. Finally, the object detection apparatus determines whether objects are present or not using flow information of the extracted “feature” part.