OBJECT RECOGNITION DEVICE

摘要

An object recognition device includes a camera (113) and a radar (114), detects an estimated plane region estimated to be a plane from an image from the camera (113) (S202), and calculates a plane equation for the estimated plane region (S207). The object recognition device interpolates and estimates distance data within the estimated plane region based on the plane equation and the measured distance data from the radar (S210) and obtains the distance to an object by using the distance data. Accordingly, it is possible to obtain dense distance data throughout the estimated plane region and to detect the distance to small objects and distant objects.

主权项

1. An object recognition device configured to recognize an object based on an image from a camera and measured distance data from a radar, the object recognition device comprising:
an estimated plane region detection means configured to detect an estimated plane region estimated to be a plane from the image; a region plane estimation means configured to calculate a plane equation for the estimated plane region; and a distance data interpolation means configured to interpolate and estimate distance data within the estimated plane region based on the plane equation and the measured distance data.