Abstract: An information processing device includes a controller configured to execute a posture estimation processing by extracting a pair group of line segments based on an optical flow of a feature point on a road surface from a processing target region set in a camera image captured by an in-vehicle camera and by estimating a posture of the in-vehicle camera based on an angle estimation value at which the in-vehicle camera is attached, the angle estimation value being estimated from each pair data included in the pair group. The controller is configured to determine that an attachment state of the in-vehicle camera is abnormal in response to at least one of a data accumulation number of the pair data, a standard deviation of the angle estimation value, or a deviation amount from a given calibration value relating to the posture in the posture estimation processing being out of a preset range.

Abstract: An information processing device includes: a controller configured to execute a posture estimation processing by estimating a posture of an in-vehicle camera based on an optical flow of a feature point in a processing target region set in a camera image captured by the in-vehicle camera. The controller is configured to set a position of the processing target region in a vertical direction based on a horizontal line position which is a position of a horizontal line derived from a point where two parallel lines intersect with each other in a real space observed in the camera image, an attachment height of the in-vehicle camera, and a horizontal line deviation amount which is a deviation amount between the horizontal line position and an optical axis center of the in-vehicle camera.

Abstract: An information processing apparatus according to an embodiment includes a controller. The controller is configured to estimate an attitude of an onboard camera, sequentially perform a first calibration process and a second calibration process of the onboard camera, and change a detection accuracy of an image recognition process of a captured image captured by the onboard camera depending on completion statuses of the first calibration process and the second calibration process.

Abstract: An information processing apparatus according to the embodiment includes a control unit (corresponding to an example of a “controller”). The control unit performs attitude estimation processing to estimate the attitude of an onboard camera based on optical flows of feature points in a region of interest set in an image captured by the onboard camera. When the onboard camera is mounted in a first state, the control unit performs first attitude estimation processing using a first region of interest set in a rectangular shape, and, when the onboard camera is mounted in a second state, the control unit performs second attitude estimation processing using a second region of interest set in accordance with the shape of a road surface.

Abstract: An abnormality detection apparatus for detecting an abnormality of a camera to be mounted on a mobile body includes a processor and associated memory configured to perform a determination process of determining a presence or absence of the abnormality of the camera based on a temporal change of a position of a feature point that is extracted from a frame image photographed by the camera and suppress a gain change in an Automatic Gain Control (“AGC”) circuit of the camera when the determination process is performed.

Abstract: An abnormality detection device includes: an estimator which estimates the amount of movement of a mobile body based on an image taken by a camera mounted on the mobile body; and a determiner which determines an abnormality in the camera by obtaining estimated information on the amount of movement of the mobile body as obtained in the estimator and actually observed information on the movement of the mobile body as detected by an external sensor, other than the camera, mounted on the mobile body.

Abstract: An abnormality detection apparatus for detecting an abnormality of a camera to be mounted on a mobile body includes a processor and associated memory configured to perform a determination process of determining a presence or absence of the abnormality of the camera based on a temporal change of a position of a feature point that is extracted from a frame image photographed by the camera and suppress a gain change in an Automatic Gain Control (“AGC”) circuit of the camera when the determination process is performed.

Abstract: An apparatus for calculating an estimation value of movement information of a mobile body based on information from a camera mounted on the mobile body. The apparatus includes an extractor that extracts feature points from frame images input from the camera, a calculator that calculates an optical flow indicating movements of the feature points between a current frame image and a previous frame image, and an estimator that calculates the estimation value based on the optical flow. The estimator switches a calculation method of the estimation value based on at least one of (i) a speed of the mobile body, (ii) a number of the feature points extracted by the extractor, and (iii) feature amounts indicating uniqueness of the feature points.

Abstract: A movement information estimation device which estimates movement information on a mobile body based on information from a camera mounted on the mobile body includes a flow deriver configured to derive an optical flow for each feature point based on an image taken by the camera and a movement information estimator configured to estimate movement information on the mobile body based on optical flows derived by the flow deriver. The movement information estimator is configured to estimate movement information on the mobile body after exclusion processing for excluding an optical flow arising from a shadow of the mobile body.

Abstract: A movement information estimation device estimates movement information on a mobile body based on information from a camera mounted on the mobile body. The movement information estimation device includes a feature point extractor configured to extract a feature point from a predetermined region in an image taken by the camera, and a movement information estimator configured to estimate movement information on the mobile body based on the feature point.

Abstract: An abnormality detection device includes: an estimator which estimates the amount of movement of a mobile body based on an image taken by a camera mounted on the mobile body; and a determiner which determines an abnormality in the camera by obtaining estimated information on the amount of movement of the mobile body as obtained in the estimator and actually observed information on the movement of the mobile body as detected by an external sensor, other than the camera, mounted on the mobile body.

Abstract: There is provided a vehicle state determining device. An extracting unit is configured to extract feature points from images acquired by an imaging device mounted on a vehicle. An estimating unit is configured to estimate the movement amount of the vehicle at each time set at intervals of a predetermined time, on the basis of the feature points extracted by the extracting unit. A determining unit is configured to perform determination on movement of the vehicle on the basis of the movement amount estimated by the estimating unit, and the change amount of the movement amount.

Abstract: There is provided an image processing device. An object detecting unit is configured to detect objects from each frame image sequentially input from an imaging device. A selecting unit is configured to select objects positioned at the lowest portions, from the objects included in a plurality of individual segment areas constituting the frame image and existing side by side in a left-right direction. A highlighting-image generating unit is configured to generate highlighting images for highlighting the objects selected by the selecting unit.

Abstract: An obstacle detection apparatus according to an embodiment includes an on-vehicle camera (image capturing unit), an estimation unit, and a determination unit. The on-vehicle camera is provided on a vehicle and captures an image of surroundings of the vehicle. The estimation unit estimates an existence region with an obstacle existing therein in an image captured by the image capturing unit. The determination unit determines presence or absence of the obstacle based on brightness of the existence region.

Abstract: There is provided an image processing device. A feature point acquiring unit acquires a plurality of feature points of objects of each frame image. A grouping unit performs a grouping process of dividing the feature points into groups corresponding to the individual objects. A masking unit performs a masking process of excluding feature points included in some areas of the frame image. A highlighting-image generating unit generates highlighting images for highlighting objects of the frame image corresponding to the feature point groups. A superimposed-image generating unit superimposes the highlighting images on the frame image, thereby generating a superimposed image.

Abstract: An image processing apparatus that processes an image includes: an image acquisition portion that acquires a captured image from an imaging apparatus which captures an image of a vicinity of a vehicle; and an image generator that generates a display image in which a support image for supporting driving is superimposed on the acquired captured image captured by the imaging apparatus, the image generator being configured to (i) make a determination as to whether the vehicle is in a stopped state or a moving state, and (ii) select a type of the support image to be superimposed on the acquired captured image in the display image based on the determination as to whether the vehicle is in the stopped state or the moving state.

Abstract: A moving amount derivation apparatus derives a moving amount of a host apparatus that includes the moving amount derivation apparatus. The moving amount derivation apparatus includes: an image acquisition part that acquires a series of photographic images from a photographing apparatus that the host apparatus includes and that moves with the host apparatus; and an image processor coupled to the image acquisition part. The image processor is configured to: (i) derive a moving vector of a photographed object within the series of the photographic images, using a plurality of the photographic images out of the series of the photographic images, the plurality of the photographic images having been photographed at different time points; and (ii) derive the moving amount of the host apparatus based on the moving vector.

Abstract: An image processing apparatus includes: an image processor which: receives a captured-image from an image acquisition part acquiring the captured-image from a camera that captures an image of a vicinity of a vehicle; project data of the captured-image onto a virtual projection plane provided in the vicinity of the vehicle; and correct deformation of the captured-image caused by projection of the captured-image onto the virtual projection plane. In a case of presence of a command indicative of enlarging a portion of the captured-image, the image processor corrects the deformation of the captured-image by using a greater correction amount than that used in a case of absence of the input of the command indicative of enlarging the portion of the captured-image. Accordingly, in a case where a portion of an image of a vicinity of a vehicle is enlarged, deterioration of image quality can be suppressed as much as possible.

Abstract: There is provided a vehicle state determining device. An extracting unit is configured to extract feature points from images acquired by an imaging device mounted on a vehicle. An estimating unit is configured to estimate the movement amount of the vehicle at each time set at intervals of a predetermined time, on the basis of the feature points extracted by the extracting unit. A determining unit is configured to perform determination on movement of the vehicle on the basis of the movement amount estimated by the estimating unit, and the change amount of the movement amount.

Abstract: There is provided an image processing device. A feature point acquiring unit acquires a plurality of feature points of objects of each frame image. A grouping unit performs a grouping process of dividing the feature points into groups corresponding to the individual objects. A masking unit performs a masking process of excluding feature points included in some areas of the frame image. A highlighting-image generating unit generates highlighting images for highlighting objects of the frame image corresponding to the feature point groups. A superimposed-image generating unit superimposes the highlighting images on the frame image, thereby generating a superimposed image.