Object recognition system using left and right images and method
First Claim
Patent Images
1. An object recognition system, comprising:
- a stereo camera configured to output left and right images of a same object; and
an object recognition device configured to extract left and right feature vectors from the left and right images received from the stereo camera, match the left feature vectors extracted from the left images with the right feature vectors extracted from the right images to find a plurality of common feature vectors which are present in both the left and right images, match the plurality of found common feature vectors with a plurality of common feature vectors which are present in both left and right images according to objects stored in a database, and recognize an object present in the left and right images based on results of the matching,wherein the object recognition device is configured to match the left feature vectors and the right feature vectors such that the left feature vectors in a scale space is compared with the right feature vector in a same scale space, andwherein the object recognition device is configured to recognize the object by finding object candidates using the following equation and recognizing an object having a highest matching score out of the object candidates as the object present in the left and right images,a matching matrix M(s,m) between any object model Gm of a plurality of object models stored in the database and an object model Gs of the received left and right images is expressed by;
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Abstract
Disclosed herein are an object recognition system and method which extract left and right feature vectors from a stereo image of an object, find feature vectors which are present in both the extracted left and right feature vectors, compare information about the left and right feature vectors and the feature vectors present in both the extracted left and right feature vectors with information stored in a database, extract information of the object, and recognize the object.
7 Citations
13 Claims
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1. An object recognition system, comprising:
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a stereo camera configured to output left and right images of a same object; and an object recognition device configured to extract left and right feature vectors from the left and right images received from the stereo camera, match the left feature vectors extracted from the left images with the right feature vectors extracted from the right images to find a plurality of common feature vectors which are present in both the left and right images, match the plurality of found common feature vectors with a plurality of common feature vectors which are present in both left and right images according to objects stored in a database, and recognize an object present in the left and right images based on results of the matching, wherein the object recognition device is configured to match the left feature vectors and the right feature vectors such that the left feature vectors in a scale space is compared with the right feature vector in a same scale space, and wherein the object recognition device is configured to recognize the object by finding object candidates using the following equation and recognizing an object having a highest matching score out of the object candidates as the object present in the left and right images, a matching matrix M(s,m) between any object model Gm of a plurality of object models stored in the database and an object model Gs of the received left and right images is expressed by; - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An object recognition method, comprising:
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receiving different left and right images obtained by photographing a same object using a photographing device; extracting left and right feature vectors from the received left and right images; comparing and matching the left feature vectors in a scale space, the left feature vectors extracted from the left images, with the right feature vectors in the scale space, the right feature vectors extracted from the right images, and extracting a plurality of common feature vectors which are present in both the left and right images; matching the plurality of extracted common feature vectors with a plurality of common feature vectors which are present in both left and right images stored in a database according to objects; and recognizing an object present in the left and right images based on results of the matching, wherein the recognizing includes finding object candidates using the following equation and recognizing an object having a highest matching score out of the object candidates as the object present in the left and right images, a matching matrix M(s,m) between any object model Gm of a plurality of object models stored in the database and an object model Gs of the received left and right images is expressed by; - View Dependent Claims (9, 10, 11)
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12. An object recognition method, comprising:
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receiving different left and right images obtained by photographing a same object using a photographing device; extracting left and right feature vectors from the received left and right images; comparing and matching the left feature vectors in a scale space, the left feature vectors extracted from the left images, with the right feature vectors in the scale space, the right feature vectors extracted from the right images, and extracting a plurality of common feature vectors which are present in both the left and right images and three-dimensional distances thereof; comparing the left and right feature vectors, the plurality of common feature vectors, and the three-dimensional distances with corresponding values of the left and right images according to objects stored in a database; and recognizing an object present in the left and right images based on results of the comparing, wherein the recognizing of the object includes finding object candidates using the following equation and recognizing an object having a highest matching score out of the object candidates as the object present in the left and right images, a matching matrix M(s,m) between any object model Gm of a plurality of object models stored in the database and an object model Gs of the received left and right images is expressed by; - View Dependent Claims (13)
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Specification