OBJECT RECOGNITION APPARATUS AND OBJECT RECOGNITION METHOD
First Claim
1. An object recognition apparatus comprising:
- a first object detection unit configured to detect an object based on an image of the object captured by an imaging unit, and output first distance information including a distance to the object and first direction information including a direction to the object;
a second object detection unit configured to emit light, detect the object based on reflected light reflected at the object, and output second distance information including a distance to the object and second direction information including a direction to the object;
an output unit configured to output at least one of the first distance information and the second distance information and at least one of the first direction information and the second direction information;
a disappearance detection unit configured to detect disappearance upon when the first object detection unit becomes unable to detect the object; and
an emission control unit configured to control the second object detection unit, in a case where the disappearance detection unit detects the disappearance, to emit light in an object direction based on the first direction information before the disappearance detection unit detects the disappearance, wherein upon the disappearance detection unit detecting the disappearance, the output unit starts outputting the second distance information and the second direction information.
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Abstract
An object recognition apparatus includes a first object detection unit configured to detect an object based on an image captured by an imaging unit, and output first information including a distance and a direction to the object; a second object detection unit configured to emit light, detect the object based on reflected light, and output second information including a distance and a direction to the object; an output unit configured to output at least one of the first information and the second information; a disappearance detection unit configured to detect disappearance upon when the first object detection unit becomes unable to detect the object; and an emission control unit configured to control the second object detection unit to emit light in an object direction based on the first information before detecting the disappearance. Upon the disappearance detection unit detecting the disappearance, the output unit starts outputting the second information.
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Citations
9 Claims
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1. An object recognition apparatus comprising:
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a first object detection unit configured to detect an object based on an image of the object captured by an imaging unit, and output first distance information including a distance to the object and first direction information including a direction to the object; a second object detection unit configured to emit light, detect the object based on reflected light reflected at the object, and output second distance information including a distance to the object and second direction information including a direction to the object; an output unit configured to output at least one of the first distance information and the second distance information and at least one of the first direction information and the second direction information; a disappearance detection unit configured to detect disappearance upon when the first object detection unit becomes unable to detect the object; and an emission control unit configured to control the second object detection unit, in a case where the disappearance detection unit detects the disappearance, to emit light in an object direction based on the first direction information before the disappearance detection unit detects the disappearance, wherein upon the disappearance detection unit detecting the disappearance, the output unit starts outputting the second distance information and the second direction information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An object recognition method comprising:
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detecting an object based on an image of the object captured by an imaging unit, and outputting first distance information including a distance to the object and first direction information including a direction to the object; emitting light, detecting the object based on reflected light reflected at the object, and outputting second distance information including a distance to the object and second direction information including a direction to the object; outputting at least one of the first distance information and the second distance information and at least one of the first direction information and the second direction information; detecting disappearance upon when the object becomes unable to be detected based on the image of the object; and emitting light, in a case where the disappearance is detected, in an object direction based on the first direction information before the disappearance is detected, wherein upon the disappearance being detected, the second distance information and the second direction information start to be output.
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Specification