HUMAN DETECTION METHOD AND HUMAN DETECTOR USING DEPTH MAP

摘要

PPROBLEM TO BE SOLVED: To provide a human body detection method and a human body detector using a depth image. PSOLUTION: A human body detection part 20 performs area extraction processing of extracting pixel areas having pixel values equal to or lower than a threshold from a plurality of pixels constituting a depth image obtained from a depth image sensor 10, a plurality of times while increasing the threshold stepwise from a pixel value of a pixel having the lowest pixel value. In the case that a pixel area newly extracted by area extraction processing partially overlaps already extracted pixel areas, the human detection part 20 performs identifier assignment processing of identifying a plurality of partially overlapping pixel areas and assigning the same identifier to the plurality of pixel areas. Area extraction processing and identifier assignment processing are terminated when a decision condition that the number of pixels of the plurality of pixel areas to which the same identifier is assigned exceeds the number of pixels corresponding to a size of a human body is satisfied, and pixel areas having the same identifier assigned thereto are extracted as a human body. PCOPYRIGHT: (C)2006,JPO&NCIPI