Object recognition apparatus and method

  • US 5,638,116 A
  • Filed: 09/07/1994
  • Issued: 06/10/1997
  • Est. Priority Date: 09/08/1993
  • Status: Expired due to Term
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First Claim
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1. An object recognition apparatus mounted on a vehicle comprising:

  • an on-vehicle camera acquiring an image around the vehicle;

    a position detection device including sensors and road map data, said position detection device detecting first support information including a bearing, a position, and a mileage of the vehicle;

    means for estimating an image cut off range in the image acquired by said on-vehicle camera on the basis of the first support information supplied from the position detection device, said image cut off range is assumed to include an object to be recognized;

    means for recognizing the object in the image cut off range; and

    means for calculating a plurality of camera attitude parameters which indicate attitude of said on-vehicle camera with respect to the road.

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