MOTION INFORMATION ESTIMATION DEVICE

• Main Authors: ICHINO FUMIYA, TAKEMAE KASHU, SHIRODONO KIYOSUMI
• Format: Patent
• Language: English; Japanese
• Published: 12.01.2016
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

PROBLEM TO BE SOLVED: To improve motion estimation accuracy near the boundary of an imaging object.SOLUTION: A motion information estimation device comprises: an imaging device 10 imaging an imaging object around an own vehicle, and outputting a picked-up image that is an aggregate of pixels containing luminance value information in time series; a distance information calculation unit 23 calculating depth distance information from the imaging device 10 to the imaging target for every pixel on the basis of the luminance value information on the picked-up image; an area setting unit 24 setting a local area constituted by a pixel of interest corresponding to a point of interest in the picked-up image and pixels around the pixel of interest; a similarity calculation unit 25 calculating a similarity of each pixel around the pixel of interest on the basis of the luminance value information and the depth distance information; and a motion estimation unit 26 estimating a motion of the point of interest on the basis of the similarity, and estimating a motion of the imaging object by estimating each point of interest in the picked-up image. 【課題】撮像対象の境界付近における動きの推定精度を向上させること。【解決手段】自車両の周辺の撮像対象を撮像し、輝度値情報が含まれた画素の集合体である撮像画像を時系列毎に出力する撮像装置１０と、撮像画像の輝度値情報に基づいて撮像装置１０から撮像対象までの奥行距離情報を画素毎に算出する距離情報算出部２３と、撮像画像における注目点に対応する注目画素と当該注目画素の周囲の画素とからなる局所領域を設定する領域設定部２４と、輝度値情報と奥行距離情報に基づいて注目画素に対する周囲の画素の類似度を算出する類似度算出部２５と、類似度に基づいて注目点の動きを推定し、その推定を撮像画像内の各注目点に対して行うことで撮像対象の動きを推定する動き推定部２６と、を備えること。【選択図】図１