| CPC G06V 10/255 (2022.01) [G06T 7/70 (2017.01); G06V 20/52 (2022.01)] | 9 Claims |
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1. An annunciation method comprising:
controlling a camera to capture a detection image of a detection range of the camera;
generating a differential range image based on the captured detection image and a reference image of the detection range of the camera stored in a storage;
obtaining, from the differential range image, first position information representing a position of a first object;
obtaining, from the differential range image, second position information representing a position of a second object;
obtaining, from the differential range image, third position information representing a position of a third object;
setting the first object and the second object as a first group when a distance between the first object and the second object calculated based on the first position information and the second position information is smaller than or equal to a first threshold value;
obtaining fourth position information representing a position of the first group; and
performing annunciation when a distance between the third object and the first group calculated based on the third position information and the fourth position information is smaller than a second threshold value which is larger than the first value.
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