OBJECT RECOGNITION DEVICE, OBJECT RECOGNITION METHOD, PROGRAM FOR OBJECT RECOGNITION METHOD, AND RECORDING MEDIUM HAVING RECORDED THEREON PROGRAM FOR OBJECT RECOGNITION METHOD
First Claim
1. An object recognition device comprising:
- a model image processing unit processing a model image;
a processing-target image processing unit processing a processing-target image;
a matching unit matching the processing results in the model image processing unit and the processing-target image processing unit; and
a determination unit determining the processing result in the matching unit so as to determine presence/absence of a model object in the processing-target image,wherein the model image processing unit has a feature point set decision unit setting a feature point set including a base point and a support point supporting the base point in the model image, and detecting the feature quantity of the feature point set,the processing-target image processing unit has a feature point setting unit setting a feature point in the processing-target image and detecting the feature quantity of the feature point,the matching unit compares the feature quantity of the feature point set in the model image with the feature quantity of the feature point in the processing-target image so as to detect the feature point corresponding to the feature point set, and executes the matching,the model image processing unit has a segmentation unit segmenting the model image, andthe feature point set decision unit sets the base point and the corresponding support point in the same segment for each segment of the model image so as to set the feature point set.
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Accused Products
Abstract
An object recognition device includes: a model image processing unit having a feature point set decision unit setting a feature point set in a model image, and detecting the feature quantity of the feature point set, and a segmentation unit segmenting the model image; a processing-target image processing unit having a feature point setting unit setting a feature point in a processing-target image and detecting the feature quantity of the feature point; a matching unit comparing the feature quantities of the feature points set in the model image and in the processing-target image so as to detect the feature point corresponding to the feature point set, and executes a matching; and a determination unit determining the processing result in the matching unit so as to determine presence/absence of a model object in the processing-target image.
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Citations
24 Claims
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1. An object recognition device comprising:
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a model image processing unit processing a model image; a processing-target image processing unit processing a processing-target image; a matching unit matching the processing results in the model image processing unit and the processing-target image processing unit; and a determination unit determining the processing result in the matching unit so as to determine presence/absence of a model object in the processing-target image, wherein the model image processing unit has a feature point set decision unit setting a feature point set including a base point and a support point supporting the base point in the model image, and detecting the feature quantity of the feature point set, the processing-target image processing unit has a feature point setting unit setting a feature point in the processing-target image and detecting the feature quantity of the feature point, the matching unit compares the feature quantity of the feature point set in the model image with the feature quantity of the feature point in the processing-target image so as to detect the feature point corresponding to the feature point set, and executes the matching, the model image processing unit has a segmentation unit segmenting the model image, and the feature point set decision unit sets the base point and the corresponding support point in the same segment for each segment of the model image so as to set the feature point set.
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2. An object recognition device comprising:
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a model image processing unit processing a model image; a processing-target image processing unit processing a processing-target image; a matching unit matching the processing results in the model image processing unit and the processing-target image processing unit; and a determination unit determining the processing result in the matching unit so as to determine presence/absence of a model object in the processing-target image, wherein the processing-target image processing unit has a feature point set decision unit setting a feature point set including a base point and a support point supporting the base point in the processing-target image, and detecting the feature quantity of the feature point set, the model image processing unit has a feature point setting unit setting a feature point in the model image and detecting the feature quantity of the feature point, the matching unit compares the feature quantity of the feature point set in the processing-target image with the feature quantity of the feature point in the model image so as to detect the feature point corresponding to the feature point set, and executes the matching, the processing-target image processing unit has a segmentation unit segmenting the processing-target image, and the feature point set decision unit sets the base point and the corresponding support point in the same segment for each segment of the processing-target image so as to set the feature point set.
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3. An object recognition method comprising the steps of:
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processing a model image; processing a processing-target image; matching the processing results in the step of processing the model image and the step of processing the processing-target image; and determining the processing result in the step of matching so as to determine presence/absence of a model object in the processing-target image, wherein the step of processing the model image has a substep of setting a feature point set including a base point and a support point supporting the base point in the model image, and detecting the feature quantity of the feature point set, thereby deciding the feature point set, the step of processing the processing-target image has a substep of setting a feature point in the processing-target image and detecting the feature quantity of the feature point, in the step of matching, the feature point corresponding to the feature point set is detected by comparison of the feature quantity of the feature point set in the model image with the feature quantity of the feature point in the processing-target image, and the matching is executed, the step of processing the model image has a substep of segmenting the model image, and in the step of deciding the feature point set, the base point and the corresponding support point are set in the same segment for each segment of the model image so as to set the feature point set. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10, 11)
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12. An object recognition method comprising the steps of:
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processing a model image; processing a processing-target image; matching the processing results in the step of processing the model image and the step of processing the processing-target image; and determining the processing result in the step of matching so as to determine presence/absence of a model object in the processing-target image, wherein the step of processing the processing-target image has a substep of setting a feature point set including a base point and a support point supporting the base point in the processing-target image, and detecting the feature quantity of the feature point set, thereby deciding the feature point set, the step of processing the model image has a substep of setting a feature point in the model image and detecting the feature quantity of the feature point, in the step of matching, the feature point corresponding to the feature point set is detected by comparison of the feature quantity of the feature point set in the processing-target image and the feature quantity of the feature point in the model image, and the matching is executed, the step of processing the processing-target image has a substep of segmenting the processing-target image, and in the step of deciding the feature point set, the base point and the corresponding support point are set in the same segment for each segment of the processing-target image so as to set the feature point set. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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21. A program for an object recognition method that is executable by a computer, the program comprising the steps of:
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processing a model image; processing a processing-target image; matching the processing results in the step of processing the model image and the step of processing the processing-target image; and determining the processing result in the step of matching so as to determine presence/absence of a model object in the processing-target image, wherein the step of processing the model image has a substep of setting a feature point set including a base point and a support point supporting the base point in the model image, and detecting the feature quantity of the feature point set, thereby deciding the feature point set, the step of processing the processing-target image has a substep of setting a feature point in the processing-target image and detecting the feature quantity of the feature point, in the step of matching, the feature point corresponding to the feature point set is detected by comparison of the feature quantity of the feature point set in the model image with the feature quantity of the feature point in the processing-target image, and the matching is executed, the step of processing the model image has a substep of segmenting the model image, and in the step of deciding the feature point set, the base point and the corresponding support point are set in the same segment for each segment of the model image so as to set the feature point set.
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22. A program for an object recognition method that is executable by a computer, the program comprising the steps of:
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processing a model image; processing a processing-target image; matching the processing results in the step of processing the model image and the step of processing the processing-target image; and determining the processing result in the step of matching so as to determine presence/absence of a model object in the processing-target image; wherein the step of processing the processing-target image has a substep of setting a feature point set including a base point and a support point supporting the base point in the processing-target image, and detecting the feature quantity of the feature point set, thereby deciding the feature point set, the step of processing the model image has a substep of setting a feature point in the model image and detecting the feature quantity of the feature point, in the step of matching, the feature point corresponding to the feature point set is detected by comparison of the feature quantity of the feature point set in the processing-target image and the feature quantity of the feature point in the model image, and the matching is executed, the step of processing the processing-target image has a substep of segmenting the processing-target image, in the step of deciding the feature point set, the base point and the corresponding support point are set in the same segment for each segment of the processing-target image so as to set the feature point set.
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23. A recording medium having recorded thereon a program for an object recognition method, which is executable by a computer, the program comprising the steps of:
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processing a model image; processing a processing-target image; matching the processing results in the step of processing the model image and the step of processing the processing-target image; and determining the processing result in the step of matching so as to determine presence/absence of a model object in the processing-target image, wherein the step of processing the model image has a substep of setting a feature point set including a base point and a support point supporting the base point in the model image, and detecting the feature quantity of the feature point set, thereby deciding the feature point set, the step of processing the processing-target image has a substep of setting a feature point in the processing-target image and detecting the feature quantity of the feature point, in the step of matching, the feature point corresponding to the feature point set is detected by comparison of the feature quantity of the feature point set in the model image with the feature quantity of the feature point in the processing-target image, and the matching is executed, the step of processing the model image has a substep of segmenting the model image, and in the step of deciding the feature point set, the base point and the corresponding support point are set in the same segment for each segment of the model image so as to set the feature point set.
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24. A recording medium having recorded thereon a program for an object recognition method, which is executable by a computer, the program comprising the steps of:
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processing a model image; processing a processing-target image; matching the processing results in the step of processing the model image and the step of processing the processing-target image; and determining the processing result in the step of matching so as to determine presence/absence of a model object in the processing-target image, wherein the step of processing the processing-target image has a substep of setting a feature point set including a base point and a support point supporting the base point in the processing-target image, and detecting the feature quantity of the feature point set, thereby deciding the feature point set, the step of processing the model image has a substep of setting a feature point in the model image and detecting the feature quantity of the feature point, in the step of matching, the feature point corresponding to the feature point set is detected by comparison of the feature quantity of the feature point set in the processing-target image and the feature quantity of the feature point in the model image, and the matching is executed, the step of processing the processing-target image has a substep of segmenting the processing-target image, in the step of deciding the feature point set, the base point and the corresponding support point are set in the same segment for each segment of the processing-target image so as to set the feature point set.
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Specification