Title:
物体認識装置
Document Type and Number:
Japanese Patent JP4480083
Kind Code:
B2
Abstract:
An object recognition apparatus that processes images, as acquired by an imaging means (10) mounted on a moving object, in a first image plane and a second image plane of different points of view, and recognizes an object in the vicinity of the moving object. The object recognition apparatus comprises: a feature point detection means (42) that detects feature points in first and second image planes of an object image; a fundamental matrix determination means (43a) that determines, based on calculation of an epipole through the auto-epipolar property, a fundamental matrix that expresses a geometrically corresponding relationship based on translational camera movement, with not less than two pairs of feature points corresponding between the first and second image planes; and a three-dimensional position calculation means (43b) that calculates a three-dimensional position of an object based on the coordinates of the object in the first and second image planes and the determined fundamental matrix.
Inventors:
Toshiaki Kakinami
Jun Sato
Jun Sato
Application Number:
JP2005047516A
Publication Date:
June 16, 2010
Filing Date:
February 23, 2005
Export Citation:
Assignee:
Aisin Seiki Co., Ltd.
National Institute of Technology Nagoya Institute of Technology
National Institute of Technology Nagoya Institute of Technology
International Classes:
G06T1/00; G01B11/00; G06V10/147; G08G1/16
Domestic Patent References:
| JP2004198211A |
Other References:
佐藤 淳,他,曲面上のエピポーラ幾何と未校正カメラによる視覚誘導,電子情報通信学会論文誌D-II,日本,社団法人電子情報通信学会,1999年 9月25日,Vol.J82-D-II,p.1401-1410
Attorney, Agent or Firm:
Shuichiro Kitamura
Mountain Saki Tetsuya
Mountain Saki Tetsuya