Method of detecting moving objects in chronologically successive images

US6069918A · kind A · utility

Assignee

• Robert Bosch GmbH · DE

Inventors

• Michael Meyer · Altdorf, DE
• Michael Hoetter · Gehrden, DE
• Frank Rottmann · Munich, DE

Key dates

• Filing date: Sep 11, 1997
• Grant date: May 30, 2000
• Expiry date: Sep 11, 2017

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/10016
• WIPO field: Computer technology
• WIPO sector: Electrical engineering

Abstract

A method for detecting moved objects in chronologically successive pictures is disclosed in which a current picture is divided into picture blocks and in each picture block a change of a picture signal of the current picture from that of a corresponding picture block of a first reference picture preceding the current picture is as certained , To detect the change the difference between the picture signals of the current picture and tho se of a second reference picture without moved objects is first compared pixel-precisely with a first threshold. If the first threshold is exceed, an object-oriented analysis of object size and/or shape takes place in which the picture signals corresponding to the moved object are compared with picture signals of a corresponding region of the first reference picture. For at least one moved object of the current picture that undershoots a size threshold, a motion vector is estimated. If the magnitude of the estimated motion vector exceeds a second threshold, the associated object is monitored chronologically and if a third threshold is exceed, then the object is immediately detected as a moved object. For the chronologically monitored objects, based o…