IMAGE PROCESSING APPARATUS AND IMAGE PROCESSING METHOD

摘要

An object recognizer of an image processing apparatus separately extracts a first feature point and a second feature point of a first line segment and a second line segment of which a variation is equal to or greater than a variation threshold value and the first feature point and the second feature point of the first line segment and the second line segment of which the variation is smaller than the variation threshold value, and determines a corresponding point in a second captured image corresponding to the first feature point of the first line segment of which the variation is equal to or greater than the variation threshold value as the second feature point of the second line segment corresponding to the first line segment of which the variation is equal to or greater than the variation threshold value to recognize an object.

主权项

1. An image processing apparatus that recognizes an object based on a captured image obtained by a camera, comprising:
a line segment extractor configured to extract a plurality of first line segments with respect to a first captured image at a first time point and to extract a plurality of second line segments with respect to a second captured image at a second time point after the first time point; a feature point extractor configured to extract a first feature point of each of the first line segments and to extract a second feature point of each of the second line segments; a variation calculator configured to calculate a variation of a position of each of the second line segments corresponding to each of the first line segments in the second captured image with respect to a position of each of the first line segments in the first captured image; and an object recognizer configured to extract target object feature points of the first feature points and the second feature points of the first line segments and the second line segments of which the variation is equal to or greater than a variation threshold value, separately extract distant scene feature points of the first feature points and the second feature points of the first line segments and the second line segments of which the variation is smaller than the variation threshold value, and to determine a corresponding point in the second captured image corresponding to a first target object feature point of the target object feature points as a second target object feature point of the target object feature points to recognize the object.