Image recognition apparatus and image processing apparatus
First Claim
1. An image recognition apparatus comprising:
- first and second cameras provided so as to produce a parallax, for shooting in respective visual fields;
edge detecting means for detecting edges in a first input image that is supplied from the first camera;
matching means for extracting, as a reference pattern, a portion in the first input image that includes at least part of a detected edge and for conducting matching between the reference pattern and a second input image that is supplied from the second camera using a pattern matching method; and
object recognizing means for recognizing an object in the visual fields of the first and second cameras, based on a matching result.
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Abstract
In an image recognition apparatus, a left camera and a right camera are provided so as to produce a parallax. A road surface indication recognizing section recognizes road surface indications contained in a left input image that is supplied from the left camera. An edge detecting section detects remaining edges other than the edges of the recognized road surface indications among all the edges in the left input image. A matching section extracts a reference pattern in the left input image that includes a detected edge, and conducts matching between the reference pattern and a right input image that is supplied from the right camera using a pattern matching method. Based on each matching result with the reference pattern, an object recognizing section recognizes an object in the visual fields and determines a distance from the recognized object to the image recognition apparatus.
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Citations
22 Claims
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1. An image recognition apparatus comprising:
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first and second cameras provided so as to produce a parallax, for shooting in respective visual fields;
edge detecting means for detecting edges in a first input image that is supplied from the first camera;
matching means for extracting, as a reference pattern, a portion in the first input image that includes at least part of a detected edge and for conducting matching between the reference pattern and a second input image that is supplied from the second camera using a pattern matching method; and
object recognizing means for recognizing an object in the visual fields of the first and second cameras, based on a matching result. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. An image processing apparatus comprising:
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road surface image storing means for storing a displayed image of a road surface; and
road surface indication recognizing means for recognizing a displayed portion of a road surface indication in the road surface image, wherein the road surface indication recognizing means;
(1) divides the road surface image into a plurality of band-like regions extending in a reference direction corresponding to a direction parallel with the road in the image;
(2) on the band-like region basis, carries out a search of density variation pattern in the reference direction to determine as a candidate portion for a road surface indication, a portion having one end whose density increases according to a predetermined reference increase pattern and another end whose density decreases according to a predetermined reference decrease pattern, and (3) compares a width of the searched candidate portion for a road surface indication with a predetermined reference width, and when the width of the searched candidate portion for a road surface indication is smaller than or equal to the reference width, recognizes that the searched candidate portion is part of a road surface indication, and the reference width is predetermined based on the width of a road surface indication that is closest to a camera that shot a road surface in a displayed image of the road surface.
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Specification