| US 7,590,263 B2 | ||
| Vehicle vicinity monitoring apparatus | ||
| Masahito Watanabe, Utsunomiya (Japan); Masakazu Saka, Utsunomiya (Japan); Nobuharu Nagaoka, Nasukarasuyama (Japan); Yoshitaka Hirai, Iruma (Japan); and Toshiya Okabe, Utsunomiya (Japan) | ||
| Assigned to Honda Motor Co., Ltd., Tokyo (Japan) | ||
| Filed on Nov. 23, 2005, as Appl. No. 11/287,553. | ||
| Claims priority of application No. 2004-347764 (JP), filed on Nov. 30, 2004; and application No. 2004-347807 (JP), filed on Nov. 30, 2004. | ||
| Prior Publication US 2006/0115126 A1, Jun. 01, 2006 | ||
| Int. Cl. G06K 9/00 (2006.01); G06K 9/62 (2006.01); H04N 7/18 (2006.01); G05D 1/02 (2006.01) | ||
| U.S. Cl. 382—106 [382/209; 348/149; 701/300] | 11 Claims |
| 1. A vehicle vicinity monitoring apparatus for use on a vehicle, said apparatus comprising:
an imaging unit for obtaining an image of a vicinity of said vehicle;
an object distance detecting unit for detecting a distance up to an object; and
an object information calculating unit for calculating information as to the object with a calculation method corresponding
to said distance up to said object which is detected by said object distance detecting unit;
a coordinate reference value memory unit for storing reference coordinates of an object whose image is obtained by said imaging
unit for adjustment; and
a template memory unit for storing a plurality of templates representing obtained images of objects depending on the distance
from said imaging unit,
wherein said object information calculating unit comprises:
a template selecting unit for selecting one of said templates stored in said template memory unit depending on the distance
from said imaging unit to said object; and
an object coordinate calculating unit for performing template matching on said image obtained by said imaging unit by using
said template selected by said template selecting unit, and calculating coordinates of said object.
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