Image recognition apparatus

• US 7,474,765 B2
• Filed: 10/30/2006
• Issued: 01/06/2009
• Est. Priority Date: 11/09/2001
• Status: Expired due to Fees

• Current Assignee: Arriver Software AB (Qualcomm, Inc.)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Hattori, Hiroshi, Watanabe, Masahito, Simamura, Kouzou, Tsuji, Takayuki, Nagaoka, Nobuharu
• Primary Examiner(s): Lu; Tom Y
• Application Number:
  US11/554,292
• Publication Number:
  US 20070053584A1
• Time in Patent Office: 799 Days
• Field of Search: 382/154, 382/103, 382/266
• US Class Current: 382/103
• 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; and

an image determination device which

sets a first determination region which has sufficient height to include the target object, does not contain a left edge of the target object, but does contain a right edge of the target object,

sets a second determination region which has sufficient height to include the target object, does not contain the right edge of the target object, but does contain the left edge of the target object, and

determines whether the target object comprises different objects which 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.

2. An image recognition apparatus according to claim 1, wherein the image determination device

determines that the target object comprises different objects which are overlapping when an absolute value of a difference between the parallax of the determination region containing the left edge and the parallax of the determination region containing the right edge is greater than a predetermined value.

3. An image recognition apparatus according to claim 1, wherein

the image determination device includes an image separation device which, when the overlapping of different objects is recognized in the target object,

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.

4. An image recognition apparatus according to claim 3, 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.

5. An image recognition apparatus according to claim 3, wherein the image determination device

determines that the target object comprises different objects which are overlapping when an absolute value of a difference between the parallax of the second determination region containing the left edge and the parallax of the first determination region containing the right edge is greater than a predetermined value.

6. 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.

7. An image recognition apparatus according to claim 6, wherein the image determination device

determines the target object comprises different objects which are overlapping when an absolute value of a difference between the parallax of the determination region containing the left edge and the parallax of the determination region containing the right edge is greater than a predetermined value.

8. 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 installed on a vehicle; and

an image determination device, which

sets a first determination region which has sufficient height to include the target object, does not contain a left edge of the target object, but does contain a right edge of the target object,

sets a second determination region which has sufficient height to include the target object, does not contain the right edge of the target object, but does contain the left edge of the target object, and

determines whether the target object comprises different objects which 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.

9. An image recognition apparatus according to claim 8, wherein the image determination device determines that the target object comprises different objects which are overlapping when an absolute value of a difference between the parallax of the determination region containing the left edge and the parallax of the determination region containing the right edge is greater than a predetermined value.

10. An image recognition apparatus according to claim 8, wherein

the image determination device includes an image separation device which, when the overlapping of different objects is recognized in the target object,

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.

11. 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; and

an image determination device which independently sets

a first determination region which has sufficient height to include the target object and which does not contain a left edge of the target object but contains a right edge of the target object and

a second determination region which has sufficient height to include the target object and which does not contain the right edge but contains the left edge, and

determines whether the target object is overlapping with different objects by measuring and comparing parallax of the first determination region with the parallax of the second determination region.

12. An image recognition apparatus according to claim 11, wherein the image determination device

determines that different objects are overlapping when an absolute value of a difference between the parallax of the second determination region and the parallax of the first determination region is greater than a predetermined value.

13. An image recognition apparatus according to claim 11, wherein

the image determination device includes an image separation device which, when the overlapping of different objects is recognized,

sets distance determination points upon edges of each of the first and second determination regions, and

independently calculates the distance to each of the respective objects.

14. An image recognition apparatus according to claim 13, wherein the image determination device

sets calculation regions containing the determination regions on the periphery of each of said determination regions respectively, and

calculates the parallaxes by performing a correlation calculation between the calculation regions corresponding with respective images obtained by the two imaging devices.

15. An image recognition apparatus according to claim 13, wherein the image determination device

determines that different objects are overlapping when an absolute value of a difference between the parallax of the second determination region and the parallax of the first determination region is greater than a predetermined value.

16. An image recognition apparatus according to claim 11, wherein

the image determination device

sets calculation regions containing a portion of 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.

17. An image recognition apparatus according to claim 16, wherein the image determination device

determines that different objects are overlapping when an absolute value of a difference between the parallax of the determination region containing the left edge and the parallax of the determination region containing the right edge is greater than a predetermined value.

18. An image recognition apparatus according to claim 11, wherein the two imaging devices are installed on a vehicle.

19. An image recognition apparatus according to claim 18, further comprising an image display apparatus, which displays images recognized by the image recognition apparatus so as to warn driver of the vehicle.

20. An image recognition apparatus according to claim 18, further comprising a speaker, which issues a warning about presence of the target object.