Patent ID: 7224831
Filing Date: 2007-05-29
Classification: G06K

Abstract:
1. An object image detecting apparatus using a plurality of images concurrently acquired by a plurality of cameras which take said plurality of images composed of pixels, comprising: a distance determination unit which determines distances to portions of an object to visually be detected wherein parallaxes obtained on a plurality of images are used; a histogram generation unit which specifies frequencies of said pixels against a plurality of distance ranges which are classified over said distances given by said distance determination unit; an object distance determination unit which determines a most likely distance among said plurality of distance ranges by selecting a distance range which has the largest frequency of said pixels among pixel frequencies specified by said histogram; probability mapping unit which generates a map of probability values against said pixels wherein said probability values are computed by differences between said most likely distance and said distances given by said distance determination unit; a kernel detection unit which detects a kernel region composed by pixels against which said probability values are larger than a first threshold value; a periphery detection unit which detects at least one of peripheral regions composed by neighboring pixels which neighbor around pixels composing said kernel region wherein probability values against said neighboring pixels are larger than a second threshold value which is smaller than said first value; and an objective region specifying unit which specifies objective regions based on at least one of said peripheral regions.