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 ▼

[ What is claimed is:] [1.]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

[ What is claimed is:] [1.]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; andparameter 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.