Method and apparatus for object recognition
First Claim
1. An object recognition method that inputs images taken by a plurality of cameras to a common image processing apparatus, applies pattern matching processing to each of said images and acquires information on objects that exist in said images, comprising the steps of:
- focusing the range of searching said objects from said images entered; and
switching between a plurality of databases provided in association with each of said plurality of cameras and performing said pattern matching processing.
1 Assignment
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Accused Products
Abstract
Based on image data taken and acquired by any one of a plurality of cameras, a predetermined object included in the image is recognized by pattern matching. A plurality of databases associated with a plurality of cameras is provided and a database to be used is changed according to the camera to be used. The plurality of databases can also be changed according to conditions such as weather and environment.
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Citations
25 Claims
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1. An object recognition method that inputs images taken by a plurality of cameras to a common image processing apparatus, applies pattern matching processing to each of said images and acquires information on objects that exist in said images, comprising the steps of:
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focusing the range of searching said objects from said images entered; and
switching between a plurality of databases provided in association with each of said plurality of cameras and performing said pattern matching processing. - View Dependent Claims (2, 3)
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4. An object recognition method that carries out object recognition processing on each of images taken by a plurality of cameras, comprising the steps of:
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preparing a plurality of databases corresponding to said plurality of cameras, registering a plurality of feature vectors obtained by multiplying image data acquired by taking pictures of a plurality of objects using each of said plurality of cameras by a feature extraction matrix to extract features of a predetermined object;
focusing the range of searching an object in an image taken by one of said plurality of cameras;
determining a feature vector about the image taken by multiplying the image data within said search range by said feature extraction matrix; and
deciding the similarity by comparing said feature vector determined and each of said plurality of feature vectors registered in the database corresponding to the camera that has taken pictures of the image for which the range of said object search has been focused. - View Dependent Claims (5)
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6. An object recognition apparatus that carries out object recognition processing on each of images taken by a plurality of cameras, comprising:
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a plurality of databases associated with said plurality of cameras in which model data about object models is registered;
a search range focusing section that focuses the object search range in an image taken by any one of said plurality of cameras; and
an object recognition section that compares the image data within said search range and said model data registered in said database corresponding to the camera that has taken this image data and detects the object in the image by detecting the part showing the highest similarity with respect to said model data in said image data. - View Dependent Claims (7, 8)
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9. An object recognition program that includes a program to make a computer operate as:
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search range extracting means for focusing the range of searching an object in an image taken by any one of a plurality of cameras; and
object recognizing means for comparing the image data within said search range and model data about the object model registered in said database corresponding to the camera that has taken this image data and detects the object by detecting the part showing the highest similarity with respect to said model data in said image data.
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10. A plurality of databases associated with a plurality of cameras or every picture taking environment that registers a plurality of feature vectors obtained by multiplying image data acquired by taking pictures of said plurality of objects or taking pictures of said plurality of objects for every picture taking environment by a feature extraction matrix to extract features of a predetermined object.
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11. A car-mounted object recognition apparatus that carries out image processing including object recognition processing on each of images taken by a plurality of car-mounted cameras, comprising:
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a plurality of databases associated with each of said plurality of cameras in which model data about object models is registered;
a search range focusing section that focuses the range of searching an object in an image taken by any one of said plurality of cameras; and
an object recognition section that compares the image data within said search range and said model data registered in said database corresponding to the camera that has taken the image data and detects the object in the image by detecting the part showing the highest similarity with respect to said model data in said image data. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A car-mounted image processing apparatus that carries out image processing including object recognition processing on each of images taken by a plurality of car-mounted cameras, comprising:
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a plurality of databases in which model data about object models is registered;
a search range extraction section that focuses the range of searching an object in an image taken by any one of a plurality of cameras;
an object recognition section that compares the image data within said search range and said model data registered in any one of said plurality of databases and detects the position of the object in the image by detecting the part showing the highest similarity with respect to said model data in said image data; and
a distance detection section that detects the distance in the three-dimensional space from said camera that has taken pictures of said object to said object based on the information on the position of the object in the image detected by said object recognition section. - View Dependent Claims (19, 20, 21, 22, 23)
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24. An image processing apparatus that carries out image processing including object recognition on each of images taken by a plurality of car-mounted cameras, comprising:
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a plurality of databases registering feature vectors obtained by multiplying image data for each of objects of different types acquired beforehand by taking pictures of said plurality of objects of different types by a feature extraction matrix to extract features of a predetermined object;
a search range extraction section that focuses the range of searching an object on an area in the image taken by any one of a plurality of cameras where the object is expected to be located;
a feature vector extraction section that obtains a feature vector about the image taken by multiplying image data within said search range by said feature extraction matrix;
an object recognition section that compares the feature vector obtained by said feature vector extraction section and each of said plurality of feature vectors registered in said database, decides the similarity and thereby detects that said predetermined object exists in the image taken by any one of said plurality of cameras and detects the position of the predetermined object in said image; and
a distance detection section that detects the distance in the three-dimensional space from said camera that has taken pictures of said object to said object based on the information of the position of the object in the image detected by said object recognition section. - View Dependent Claims (25)
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Specification