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Mobile object control apparatus and target object detecting apparatus

  • US 9,607,230 B2
  • Filed: 04/13/2015
  • Issued: 03/28/2017
  • Est. Priority Date: 04/16/2014
  • Status: Active Grant
First Claim
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1. A mobile object control apparatus comprising:

  • an image capturing unit configured to acquire a captured image representing an area around the periphery of a mobile object, the captured image being captured while the mobile object is moving;

    an object detecting unit configured to detect a specific object having a tire as a target object based on the captured image acquired by the image capturing unit;

    a movement predicting unit configured to start to predict a movement of the specific object if the object detecting unit detects the specific object having at least one tire; and

    a mobile object control unit configured to control a behavior of the mobile object in view of the movement of the specific object that is predicted by the movement predicting unit,wherein the object detecting unit comprises;

    a tire profile recognizer configured to recognize a tire profile, which represents a shape of the tire, from within profile information of the captured image;

    an end recognizer configured to recognize an end profile, which represents a shape of a horizontal end of the specific object that is positioned near the tire profile; and

    a type determiner configured to classify the tire profile, which was recognized by the tire profile recognizer, and the end profile, which was recognized by the end recognizer, into a profile group, and determine a number of tires that the specific object has based on a horizontal symmetry of each member of the profile group.

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