Target recognition apparatus
First Claim
1. A target recognition apparatus that measures a distance from a vehicle to a target, the target recognition apparatus comprising:
- two cameras that are mounted on the vehicle at positions at the same height above ground level, with a predetermined distance between the cameras;
an image compressing unit that compresses an image in at least a lateral direction, to such an extent that vertical components at both ends of a target in the image are emphasized, for each of a left image and a right image that are input after the images are picked up simultaneously with the two cameras;
a target detecting unit that detects both ends of the target in each of the left image and the right image, based on gradations of pixels in the images that have been compressed in at least a lateral direction; and
a distance measuring unit that measures a distance to the target, based on a parallax of both detected ends of the target.
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Accused Products
Abstract
A target recognition apparatus that improves a recognition rate of a target by emphasizing vertical components of picked-up images, even if the target has a round shape of which the edges are is difficult to extract. The target recognition apparatus carries out the following processes. It compresses two images that have been simultaneously picked up with a left camera and a right camera that are mounted on a vehicle, in a lateral direction respectively. It detects both ends of the target in the two images, based on gradations of pixels in the images that have been compressed in this lateral direction. It measures a distance to the target, based on a parallax of the both detected ends of the target. A searching area of a target can be set based on the images compressed in a lateral direction.
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Citations
21 Claims
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1. A target recognition apparatus that measures a distance from a vehicle to a target, the target recognition apparatus comprising:
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two cameras that are mounted on the vehicle at positions at the same height above ground level, with a predetermined distance between the cameras; an image compressing unit that compresses an image in at least a lateral direction, to such an extent that vertical components at both ends of a target in the image are emphasized, for each of a left image and a right image that are input after the images are picked up simultaneously with the two cameras; a target detecting unit that detects both ends of the target in each of the left image and the right image, based on gradations of pixels in the images that have been compressed in at least a lateral direction; and a distance measuring unit that measures a distance to the target, based on a parallax of both detected ends of the target. - 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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Specification