Environment recognition system
First Claim
1. An environment recognition system comprising:
- image taking means for taking a pair of images of the same object in a surrounding environment with a pair of cameras and outputting the pair of images;
stereo matching means for conducting stereo matching on each of a plurality of pairs of images taken by different image taking methods or each of a plurality of pairs of images formed by subjecting a pair of taken images to different image processing methods, and for forming distance images in a one-to-one correspondence with the plurality of pairs of images by assigning calculated parallaxes to pixel blocks in the images;
selection means for dividing the distance images into a plurality of vertical strip sections, calculating representative parallaxes respectively for the sections, selecting any of the representative parallaxes of corresponding sections in the distance images, and selecting the representative parallax for each of the sections; and
detection means for detecting the object in the images on the basis of the representative parallaxes of the sections.
3 Assignments
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Accused Products
Abstract
An environment recognition system includes image taking means for taking a pair of images of an object in a surrounding environment with a pair of cameras and outputting the pair of images, stereo matching means for conducting stereo matching on a plurality of pairs of images that are taken by different image taking methods or that are formed by subjecting the pair of taken images to different image processing methods and forming distance images respectively for the pairs of images, selection means for dividing the distance images into a plurality of sections, calculating representative parallaxes respectively for the sections, and selecting any of the representative parallaxes of the corresponding section as a representative parallax of the section, and detection means for detecting the object in the image on the basis of the representative parallaxes of the sections.
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Citations
20 Claims
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1. An environment recognition system comprising:
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image taking means for taking a pair of images of the same object in a surrounding environment with a pair of cameras and outputting the pair of images; stereo matching means for conducting stereo matching on each of a plurality of pairs of images taken by different image taking methods or each of a plurality of pairs of images formed by subjecting a pair of taken images to different image processing methods, and for forming distance images in a one-to-one correspondence with the plurality of pairs of images by assigning calculated parallaxes to pixel blocks in the images; selection means for dividing the distance images into a plurality of vertical strip sections, calculating representative parallaxes respectively for the sections, selecting any of the representative parallaxes of corresponding sections in the distance images, and selecting the representative parallax for each of the sections; and detection means for detecting the object in the images on the basis of the representative parallaxes of the sections. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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9. An environment recognition system comprising:
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image taking means for taking a pair of images of the same object in a surrounding environment with a pair of cameras and outputting the pair of images; stereo matching means for conducting stereo matching on the pair of images and for forming a distance image by assigning calculated parallaxes to pixel blocks in the images; selection means for dividing the distance image into a plurality of vertical strip sections, calculating a plurality of different kinds of representative parallaxes for each of the sections, and selecting any of the representative parallaxes of each of the sections as a representative parallax of the section; and detection means for detecting the object in the images on the basis of the representative parallaxes of the sections, wherein the selection means forms a histogram for each of the sections, calculates the mode of the parallaxes in the histogram as the representative parallax, and calculates the plurality of representative parallaxes by using a plurality of histograms that are different in at least one of the maximum value, the minimum value, and a class width, as the histogram for each of the sections.
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20. An environment recognition system comprising:
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image taking means for taking a pair of images of the same object in a surrounding environment with a pair of cameras and outputting the pair of images; stereo matching means for conducting stereo matching on the pair of taken images forming one or more distance images by assigning calculated parallaxes to pixel blocks in the taken images; selections means for dividing the one or more distance images into a plurality of vertical strips sections, calculating a plurality of different kinds of representative parallaxes for common or corresponding distance image sections, and selecting any of the different kinds of representative parallaxes of each of the sections as a representative parallax of the section; and detection means for detecting the object in the taken images on the basis of the selected representative parallaxes of the section, and wherein the plurality of representative parallaxes are calculated on the basis of a plurality of the distance images that are different in a threshold value at which noise is removed from the distance images, and wherein the selecting of any of the different kinds of representative parallaxes of each of the sections as a representative parallax of the section includes choosing amongst corresponding distance image sections of two distance images produced by said stereo matching means.
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Specification