| US 7,526,104 B2 | ||
| Vehicle surroundings monitoring apparatus | ||
| Nobuharu Nagaoka, Nasukarasuyama (Japan); Masahito Watanabe, Utsunomiya (Japan); and Hiroshi Hattori, Utsunomiya (Japan) | ||
| Assigned to Honda Motor Co., Ltd., Tokyo (Japan) | ||
| Filed on Nov. 28, 2005, as Appl. No. 11/287,749. | ||
| Claims priority of application No. 2004-347333 (JP), filed on Nov. 30, 2004. | ||
| Prior Publication US 2006/0115114 A1, Jun. 01, 2006 | ||
| Int. Cl. G06K 9/00 (2006.01) | ||
| U.S. Cl. 382—104 [382/103; 348/113; 701/301] | 20 Claims |
| 1. A vehicle surroundings monitoring apparatus that extracts a body present in the surroundings of a vehicle as an object,
based on an image captured by an infrared imaging device, comprising:
a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale
image of the image;
a region setting device that sets a region including the binarized object extracted by the binarized object extraction device
on the gray scale image;
a luminance status quantity calculation device that calculates, as a luminance status quantity, an integrated value of luminance
value along a vertical direction for each horizontal position in the region set by the region setting device;
a luminance distribution status quantity calculation device that calculates, as a luminance distribution status quantity relating
to the luminance distribution in the region, a width of region in which the luminance status quantity calculated by the luminance
status quantity calculation device is equal to or greater than a predetermined luminance value;
a luminance distribution status quantity determination device that determines whether or not the luminance distribution quantity
calculated by the luminance distribution quantity calculation device exceeds a predetermined value; and
an object type determination device that determines a type of the object based on a determination result of the luminance
distribution status quantity determination device.
|