SUBJECT CHANGE DETECTION SYSTEM AND SUBJECT CHANGE DETECTION METHOD

摘要

The invention detects a change in a subject by detecting the subject from an image, acquiring a feature quantity distribution that indicates shape information of the detected subject, accumulating the shape information that is indicated by the acquired feature quantity distribution and comparing the shape information a predetermined period of time before with the current shape information by using the accumulated shape information. Here, the invention acquires the feature quantity distribution of the subject from a processing target area extracted from an image area that includes the subject. The invention detects a change in the subject by using accumulated shape change information acquired from the shape information. The invention detects a change in the subject by using averaged shape change information obtained by averaging the shape change information.

主权项

1. A subject change detection system comprising:
a subject detection unit configured to acquire image data, including an image around a host vehicle, from a camera and detect a subject from the acquired image data; a shape information acquisition unit configured to acquire, by using a predetermined feature quantity, a feature quantity distribution that indicates shape information of the subject detected by the subject detection unit; a normalization unit configured to acquire a probability distribution corresponding to the feature quantity distribution by normalizing the feature quantity distribution acquired by the shape information acquisition unit; a shape information accumulation unit configured to acquire the probability distribution acquired by the normalization unit; and a subject change detection unit configured to calculate a difference between the probability distribution a predetermined period of time before and the current probability distribution, the probability distributions being accumulated by the shape information accumulation unit, by using a predetermined measure and detect a change in the subject when the calculated difference is larger than a predetermined threshold.