HUMAN BODY DETECTION METHOD USING DISTANCE IMAGE

摘要

PROBLEM TO BE SOLVED: To detect the stationary human body and to pursue the moving human body. SOLUTION: A human body detector is equipped with a distance image camera 1 and an image processor 10 for processing the distance image acquired by the distance image camera 1 to detect the human body. The control processing part 12 of the image processor 10 sets the distance up to a predetermined height (e.g. the height of the waist position of an adult) not larger than the height (stature) of the human body H but lower than the background (floor surface) on which the human body H stands to a threshold value Hth, and compares the respective pixel data of the distance image at the time(t) read from an image memory 11 with the threshold value Hth to extract the pixel data smaller than the threshold value Hth, that is, nearer to the distance image camera 1 than the threshold value Hth. The aggregate of the extracted pixel data corresponds to the region where the human body H stands on a floor, and the human body H can be detected on the basis of this region.