Title:
OBJECT DETECTION DEVICE AND VEHICLE HAVING THE OBJECT DETECTION DEVICE
Document Type and Number:
WIPO Patent Application WO/2017/168889
Kind Code:
A1
Abstract:
An object detection device which is capable of reducing the amount of data for processing and the processing time without reducing the recognition performance is provided. The object detection device includes: a gradient operation part which computes horizontal gradients in a horizontal direction and vertical gradients in a vertical direction of each of input images; a gradient magnitude operation part which operates gradient magnitudes of each of the input images; a gradient direction operation part which operates gradient directions of each of the input images; a maximum gradient magnitude operation part which operates a maximum gradient magnitude with respect to each of pixels; a maximum gradient magnitude direction operation part which operates a gradient direction of the maximum gradient magnitude for each of pixels obtained by the maximum gradient magnitude operation part; a normalized maximum gradient magnitude operation part which operates a normalized maximum gradient magnitude; a normalized maximum gradient magnitude image preparing part which prepares a normalized maximum gradient magnitude image from the normalized maximum gradient magnitude; a gradient magnitude image for each gradient direction preparing part which prepares a gradient magnitude image for each of six gradient directions; a convolution part which enhances an image by convolving the input image, the normalized maximum gradient magnitude image and the gradient magnitude images for the six gradient directions with at least three types of filters or a number of types of filters larger than 3 but equal to or smaller than 10; a feature vector converter which makes conversion into a feature vector on the basis of the input image, the normalized maximum gradient magnitude image and the gradient magnitude images for the six gradient directions processed by the convolution part; and an object recognition part which recognizes an object by a method using decision trees on the basis of the feature vector calculated by the feature vector converter.
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Inventors:
KURANUKI YOSHIKI (JP)
PATRAS IOANNIS (GB)
PATRAS IOANNIS (GB)
Application Number:
PCT/JP2016/088698
Publication Date:
October 05, 2017
Filing Date:
December 26, 2016
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
UNIV LONDON QUEEN MARY (GB)
UNIV LONDON QUEEN MARY (GB)
International Classes:
G06K9/00; G06K9/46
Foreign References:
| US20150206319A1 | 2015-07-23 | |||
| US20130279745A1 | 2013-10-24 |
Other References:
ZHANG SHANSHAN ET AL: "Filtered channel features for pedestrian detection", 2015 IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR), IEEE, 7 June 2015 (2015-06-07), pages 1751 - 1760, XP032793632, DOI: 10.1109/CVPR.2015.7298784
ZHANG SHANSHAN ET AL: "Informed Haar-Like Features Improve Pedestrian Detection", 2014 IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, IEEE, 23 June 2014 (2014-06-23), pages 947 - 954, XP032649097, DOI: 10.1109/CVPR.2014.126
S. ZHANG; R. BENENSON; B. SCHIELE: "Filtered channel features for pedestrian detection", CVPR, 2015
S. ZHANG; R. BAUCKHAGE; A. B. CREMERS: "Informed Haar-like features improve pedestrian detection", CVPR, 2014
ZHANG SHANSHAN ET AL: "Informed Haar-Like Features Improve Pedestrian Detection", 2014 IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, IEEE, 23 June 2014 (2014-06-23), pages 947 - 954, XP032649097, DOI: 10.1109/CVPR.2014.126
S. ZHANG; R. BENENSON; B. SCHIELE: "Filtered channel features for pedestrian detection", CVPR, 2015
S. ZHANG; R. BAUCKHAGE; A. B. CREMERS: "Informed Haar-like features improve pedestrian detection", CVPR, 2014
Attorney, Agent or Firm:
UNIUS PATENT ATTORNEYS OFFICE (JP)
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