초록 ▼

An object recognition apparatus that can recognize an object in an image acquired by an on-vehicle camera mounted on a vehicle with high efficiency and accuracy. A recognition processing is carried out in a cut off range, which is cut off from the image, and in which an object to be recognized is su

An object recognition apparatus that can recognize an object in an image acquired by an on-vehicle camera mounted on a vehicle with high efficiency and accuracy. A recognition processing is carried out in a cut off range, which is cut off from the image, and in which an object to be recognized is supposed to be present. The cut off range is obtained using support information supplied from a position detection device and/or an anti-lock brake device of the vehicle. Since the object in the image changes its position as the vehicle moves, the displacement must be estimated during the object recognition. The estimation requires camera attitude parameters of the on-vehicle camera with respect to the road, and the estimation is performed using support information supplied from the position detection device and/of the anti-lock brake device. This will improve the efficiency and accuracy of obtaining the camera attitude parameters.

대표청구항 ▼

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 mile

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.