OBJECT RECOGNITION APPARATUS, OBJECT RECOGNITION METHOD, AND OBJECT RECOGNITION PROGRAM

• US 20190019045A1
• Filed: 09/18/2018
• Published: 01/17/2019
• Est. Priority Date: 03/18/2016
• Status: Active Grant

• Current Assignee: JVC Kenwood Corporation
• Original Assignee: JVC Kenwood Corporation
• Inventors: OGURA, Takuya
• Granted Patent: US 10,796,171 B2
• Time in Patent Office: Days
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G06V 10/44 Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
• CPC Class Codes: G06V 10/768 using context analysis, e.g. recognition aided by known co-occurring patterns
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/593 Recognising seat occupancy
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An object recognition apparatus includes an image acquisition unit that acquires a captured image of a photographic subject, and a recognition processing unit that recognizes the photographic subject in the acquired image using a recognition dictionary. The recognition processing unit detects a target in the acquired image using a target recognition dictionary, detects a wheel at a lower part of the detected target using a wheel recognition dictionary, and reflects a result of the detection of the wheel in a result of the detection of the target. Thus, the object recognition apparatus can accurately detect a target such as a person and another vehicle.

Claims

1. An object recognition apparatus comprising:

an image acquisition unit configured to acquire a captured image of a photographic subject; and

a recognition processing unit configured to recognize the photographic subject in the acquired image using a recognition dictionary, wherein the recognition processing unit

detects a target in the acquired image using a target recognition dictionary,

detects an orientation of the target using the acquired image,

selects a wheel recognition dictionary corresponding to the detected orientation,

detects a wheel at a lower part of the detected target using the selected wheel recognition dictionary, and

reflects a result of the detection of the wheel in a result of the detection of the target.

2. The object recognition apparatus according to claim 1, wherein when the recognition processing unit detects the orientation of the target using the acquired image, the recognition processing unit

tracks the target using a plurality of the acquired images and estimates a direction in which the target travels, and

detects the orientation of the target from the estimated direction in which the target travels.

3. The object recognition apparatus according to claim 1, wherein the recognition processing unit

detects a person using a person recognition dictionary, which is the target recognition dictionary,

detects the wheel using the selected wheel recognition dictionary at a lower part of the detected person, and

decides, when the recognition processing unit detects the wheel, that the detected person is an occupant of the vehicle, and decides, when the recognition processing unit does not detect the wheel, that the detected person is a pedestrian.

4. The object recognition apparatus according to claim 3, wherein the recognition processing unit calculates a distance between a lower end of the detected wheel or a lower end of the detected person decided to be the pedestrian and a capturing unit that captures the image.

5. The object recognition apparatus according to claim 1, wherein

the image acquisition unit acquires an infrared light image and a visible light image as the image, and

the recognition processing unit

detects the person in the infrared light image using the person recognition dictionary, which is the target recognition dictionary, and

detects the wheel in the visible light image at the lower part of the detected person using the selected wheel recognition dictionary.

6. The object recognition apparatus according to claim 1, wherein the recognition processing unit

detects a vehicle using a vehicle recognition dictionary, which is the target recognition dictionary,

detects a wheel at a lower part of the detected vehicle using the selected wheel recognition dictionary, and

calculates a distance to the detected vehicle based on a lower end position of the detected wheel.

7. The object recognition apparatus according to claim 6, further comprising a display control unit configured to control a display unit to display the acquired image, wherein the display control unit controls the display unit to display a detection rectangle surrounding the detected vehicle in such a way that the detection rectangle includes the detected wheel.

8. The object recognition apparatus according to claim 7, wherein when the display control unit controls the display unit to display the detection rectangle,

when the recognition processing unit detects the vehicle, the display control unit controls the display unit to display the detection rectangle surrounding the vehicle, and

when the recognition processing unit detects the wheel, the display control unit corrects the detection rectangle so that it includes the wheel and then display the detection rectangle.

9. The object recognition apparatus according to claim 7, wherein the display control unit controls the display unit to display the calculated distance.

10. An object recognition method comprising:

an image acquisition step of acquiring a captured image of a photographic subject; and

a recognition processing step of recognizing the photographic subject in the acquired image using a recognition dictionary, wherein the recognition processing step comprises;

detecting a target in the acquired image using a target recognition dictionary;

detecting an orientation of the target using the acquired image;

selecting a wheel recognition dictionary corresponding to the detected orientation;

detecting a wheel at a lower part of the detected target using the selected wheel recognition dictionary; and

reflecting a result of detecting the wheel in a result of detecting the target.

11. A computer readable medium storing an objection recognition program for causing a computer to execute:

an image acquisition procedure for acquiring a captured image of a photographic subject; and

a recognition processing procedure for recognizing the photographic subject in the acquired image using a recognition dictionary, wherein the recognition processing procedure comprises;

detecting a target in the acquired image using a target recognition dictionary;

detecting an orientation of the target using the acquired image;

selecting a wheel recognition dictionary corresponding to the detected orientation;

detecting a wheel at a lower part of the detected target using the selected wheel recognition dictionary; and

reflecting a result of detecting the wheel in a result of detecting the target.