Patent ID: 8218816
Filing Date: 2012-07-10
Classification: G06K

Abstract:
1. A moving object detecting device comprising: a stereo camera apparatus that takes a set of images of an object and determines a parallax between the object and the stereo camera apparatus; a range sensor that scans the object and utilizes the parallax to measure a distance from the device to an object; an image processing component that performs an image processing on the images captured by the stereo camera apparatus to extract a tracking target, which is a moving object to be tracked, from the image and to estimate a distance and a direction from the device to the tracking target based on the image; a congestion degree measuring component that sets a congestion degree measuring region around a moving object estimated point where a moving object is previously detected and measures a congestion degree represented by a ratio C of the number of detection points detected by the range sensor in the congestion degree measuring region to a total number of scanning lines of the range sensor passing through within the congestion degree measuring region; and a calculation component that obtains a fusion estimation result by performing a calculation using (a) a first moving object tracking result obtained by an output from the range sensor, (b) a second moving object tracking result obtained by the image processing by the image processing component, and (c) a fusion ratio W