| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a person detection method capable of reducing an error when a distance between a person and a stereo camera is large. <P>SOLUTION: In step S1, parallax is measured to each point of the person. In step S2, a stereo distance that is the distance between the stereo camera and the person is calculated about each the point from an obtained parallax image. In step S3, coordinates of all the points on the surface of the person in a world coordinate system are calculated by use of the stereo distance. In step S4, projection in a Z-axis direction, i.e., the number of the points is added. In step S5, largeness of a window is found. In step S6, a characteristic quantity of the number of the points is found inside the window. In step S7, it is decided whether the person is present or not by use of the characteristic quantity. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
