OBJECT ESTIMATION APPARATUS AND OBJECT ESTIMATION METHOD

摘要

An object estimation apparatus estimates a position and a speed of an object in images based on the images taken by an image taking means from different positions. The object estimation apparatus includes a shift information taking means that takes temporal shift information of a position of a corresponding pixel from frames arranged in time series in a reference image, which is a reference between the images, a parallax information taking means that takes parallax information of each corresponding pixel from the images with reference to the reference image, an estimated value taking means that estimates estimated values of the position and the speed of the object in three-dimensional space by using a filter based on the shift information taken by the shift information taking means and the parallax information taken by the parallax information taking means, a determination means that determines whether or not each of the shift information taken by the shift information taking means and the parallax information taken by the parallax information taking means is an abnormal value, and a correction means that corrects the estimated value taken by the estimated value taking means based on a determination result of the determination means. The correction means corrects the estimated value taken by the estimated value taking means by using different methods between a case where the determination means determines that the shift information taken by the shift information taking means is an abnormal value and a case where the determination means determines that the parallax information taken by the parallax information taking means is an abnormal value.

主权项

1. An object estimation apparatus, which estimates a position and a speed of an object in images based on the images taken by an image taking means (12) from different positions, characterized in that the object estimation apparatus comprises:
a shift information taking means (28) that takes temporal shift information of a position of a corresponding pixel from frames arranged in time series in a reference image, which is a reference between the images; a parallax information taking means (30) that takes parallax information of each corresponding pixel from the images with reference to the reference image; an estimated value taking means (32) that estimates estimated values of the position and the speed of the object in three-dimensional space by using a filter based on the shift information taken by the shift information taking means and the parallax information taken by the parallax information taking means; a determination means (34) that determines whether or not each of the shift information taken by the shift information taking means and the parallax information taken by the parallax information taking means is an abnormal value; and a correction means (36) that corrects the estimated value taken by the estimated value taking means based on a determination result of the determination means, and the correction means corrects the estimated value taken by the estimated value taking means by using different methods between a case where the determination means determines that the shift information taken by the shift information taking means is an abnormal value and a case where the determination means determines that the parallax information taken by the parallax information taking means is an abnormal value.