| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and a device for detecting the end points of a human body capable of detecting regions of the human body on which no contact sensor is mounted by an image processing. SOLUTION: An image of a detection space is picked up by an image pickup means 101, an image without distortion is created by a distortion compensating means 105 the distance distribution to the human body is measured by a stereo image processing by a distance measuring means 112, three-dimensional coordinates of the human body are calculated by a human body three- dimensional coordinate calculating means 114 and the head, shoulders, legs and arms are detected by a human body end point detecting means 116. In addition, image change is calculated by comparing a reference distortion compensated image 109 obtained in the case of startup with a distortion compensated image 107 by an image change calculating means 110 and an end point coordinate result 121 to an area where the image is changed by a human body end point correcting means 122. |
