Object recognition apparatus and method

  • US 6,285,393 B1
  • Filed: 12/22/1997
  • Issued: 09/04/2001
  • Est. Priority Date: 09/08/1993
  • Status: Expired due to Term
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First Claim
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1. A camera attitude parameter generating apparatus comprising:

  • an on-vehicle camera mounted on a vehicle to acquire an image ahead of or behind the vehicle;

    detecting means for detecting a pair of road parallel lines in the image acquired by said on vehicle camera while the vehicle is traveling on a road, said pair of road parallel lines being parallel with each other in the direction that the vehicle is traveling;

    intersection obtaining means for obtaining the intersection the pair of road parallel lines in the image, thereby generating the intersection as a road vanishing point; and

    parameter generating means for generating at least one of camera attitude parameters on the basis of the pair of road parallel lines and the road vanishing point, said camera attitude parameters representing the attitude of said on-vehicle camera with respect to the road.

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