RECOGNITION EQUIPMENT AND METHOD OF OBJECT USING FEATURE VECTOR

摘要

PROBLEM TO BE SOLVED: To enable precise distance estimation by correcting similarily while considering the generation of occlusion or the like. SOLUTION: Information on a three-dimensional space is estimated by installing corresponding candidate point information extracting means 606-608 for extracting at every assumed distance, local information like lightness information in the vicinity of a corresponding candidate point of each image sensing means which corresponds to each selection pixel of a picture image picked up by an image sensing means, a feature vector forming means 609 for forming a feature vector accurately characterizing local feature by inputting the local information in the vicinity of the extracted corresponding candidate point of each image sensing means, a stabilizing means 610 of feature vector which stabilizes information by integrating data of the formed feature vector at every element with respect to position or time, and a distance estimating means 611 for estimating a distance from an object by using relations between elements of the stabilized feature vector.