Image recognition apparatus

• US 7,158,664 B2
• Filed: 11/01/2002
• Issued: 01/02/2007
• Est. Priority Date: 11/09/2001
• Status: Active Grant

• Current Assignee: Arriver Software AB (Qualcomm, Inc.)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Tsuji, Takayuki, Nagaoka, Nobuharu, Hattori, Hiroshi, Watanabe, Masahito, Simamura, Kouzou
• Primary Examiner(s): Mehta; Bhavesh M
• Assistant Examiner(s): SHAH, UTPAL D
• Application Number:
  US10/286,541
• Publication Number:
  US 20030091228A1
• Time in Patent Office: 1,523 Days
• Field of Search: 382/154, 382/103, 382/266
• US Class Current: 382/154
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/97 Determining parameters from multiple pictures depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85
• CPC Class Codes: G06V 20/182 Network patterns, e.g. roads or rivers
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

An image processing unit determines the size of a circumscribed quadrangle of the target object, and predicts the overlap of the two different objects. If overlap is predicted, the target object is divided into two divided regions L_b and R_b containing the left and right edges of the target object respectively, and by performing a correlation calculation between the left image and the right image captured by a stereo camera for each of the divided regions, the parallaxes of the respective divided regions L_b and R_b can be determined. Then, if the absolute value of the difference between the parallaxes of the respective divided regions L_b and R_b is greater than a predetermined value, a determination is made that different objects are overlapping within the target object, and the target object is divided for recognition, and the distance to the respective objects is calculated independently.

Claims

1. An image recognition apparatus which measures the parallax of a target object based on images respectively obtained by two imaging devices and calculates the distance to the target object based on the parallax, the image recognition apparatus comprising:

said two imaging devices;

an image determination device which sets determination regions which have sufficient height to include the target object and independently contain left and right edges of the target object respectively, and determines whether different objects are overlapping by measuring and comparing the parallax of a determination region containing the left edge with the parallax of a determination region containing the right edge; and

an image prediction device which predicts the overlap of different objects if a region surrounding the target object is larger than a predetermined size, or a ratio of a length in the vertical direction to a length in the horizontal direction of the region surrounding the target object is less than a predetermined value.

2. An image recognition apparatus according to claim 1, wherein when the prediction device does not predict the overlap of different objects, the image determining device does not set determination regions or determine whether different objects are overlapping.

3. An image recognition apparatus according to claim 1, wherein the image determination device sets calculation regions containing the determination regions on the periphery of each determination region respectively, and calculates the parallaxes by performing a correlation calculation between the calculation regions corresponding with respective images obtained by the two imaging devices.

4. An image recognition apparatus according to claim 1, wherein the image determination device determines that different objects are overlapping when an absolute value of a difference between the parallax of the detemlination region containing the left edge and the parallax of the determination region containing the right edge is greater than a predetermined value.

5. An image recognition apparatus which measures the parallax of a target object based on images respectively obtained by two imaging devices and calculates the distance to the target object based on the parallax, the image recognition apparatus comprising:

said two imaging devices;

an image determination device which sets determination regions which have sufficient height to include the target object and independently contain left and right edges of the target object respectively, and determines whether different objects are overlapping by measuring and comparing the parallax of a determination region containing the left edge with the parallax of a determination region containing the right edge; and

an image prediction device which predicts the overlap of different objects if a region surrounding the target object is larger than a predetermined size, or a ratio of a length in the vertical direction to a length in the horizontal direction of the region surrounding the target object is less than a predetermined value;

wherein the image determination device includes an image separation device which, when the overlapping of different objects is recognized, sets distance determination points in the determination regions upon the edges of the determination regions, and independently calculates the distance to each of the respective objects.