Image recognition apparatus
First Claim
1. An image recognition apparatus which measures the parallax of a target object based on images respectively obtained by two imaging devices and calculates the distance to the target object based on the parallax, the image recognition apparatus comprising:
- said two imaging devices; and
an image determination device whichsets a first determination region which has sufficient height to include the target object, does not contain a left edge of the target object, but does contain a right edge of the target object,sets a second determination region which has sufficient height to include the target object, does not contain the right edge of the target object, but does contain the left edge of the target object, anddetermines whether the target object comprises different objects which are overlapping by measuring and comparing the parallax of a determination region containing the left edge with the parallax of a determination region containing the right edge.
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Accused Products
Abstract
An image processing unit determines the size of a circumscribed quadrangle of the target object, and predicts the overlap of the two different objects. If overlap is predicted, the target object is divided into two divided regions L_b and R_b containing the left and right edges of the target object respectively, and by performing a correlation calculation between the left image and the right image captured by a stereo camera for each of the divided regions, the parallaxes of the respective divided regions L_b and R_b can be determined. Then, if the absolute value of the difference between the parallaxes of the respective divided regions L_b and R_b is greater than a predetermined value, a determination is made that different objects are overlapping within the target object, and the target object is divided for recognition, and the distance to the respective objects is calculated independently.
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Citations
20 Claims
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1. An image recognition apparatus which measures the parallax of a target object based on images respectively obtained by two imaging devices and calculates the distance to the target object based on the parallax, the image recognition apparatus comprising:
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said two imaging devices; and an image determination device which sets a first determination region which has sufficient height to include the target object, does not contain a left edge of the target object, but does contain a right edge of the target object, sets a second determination region which has sufficient height to include the target object, does not contain the right edge of the target object, but does contain the left edge of the target object, and determines whether the target object comprises different objects which are overlapping by measuring and comparing the parallax of a determination region containing the left edge with the parallax of a determination region containing the right edge. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. an image recognition apparatus which measures the parallax of a target object based on images respectively obtained by two imaging devices and calculates the distance to the target object based on the parallax, the image recognition apparatus comprising:
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said two imaging devices installed on a vehicle; and an image determination device, which sets a first determination region which has sufficient height to include the target object, does not contain a left edge of the target object, but does contain a right edge of the target object, sets a second determination region which has sufficient height to include the target object, does not contain the right edge of the target object, but does contain the left edge of the target object, and determines whether the target object comprises different objects which are overlapping by measuring and comparing the parallax of a determination region containing the left edge with the parallax of a determination region containing the right edge. - View Dependent Claims (9, 10)
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11. An image recognition apparatus which measures the parallax of a target object based on images respectively obtained by two imaging devices and calculates the distance to the target object based on the parallax, the image recognition apparatus comprising:
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said two imaging devices; and an image determination device which independently sets a first determination region which has sufficient height to include the target object and which does not contain a left edge of the target object but contains a right edge of the target object and a second determination region which has sufficient height to include the target object and which does not contain the right edge but contains the left edge, and determines whether the target object is overlapping with different objects by measuring and comparing parallax of the first determination region with the parallax of the second determination region. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification