| 摘要 |
PROBLEM TO BE SOLVED: To provide an object recognition device capable of reducing the risk of losing sight of an object and appropriately tracking the object.SOLUTION: An object recognition device of the present invention detects an object from an image obtained by imaging surroundings of an own vehicle; extracts feature points of the object; compares a plurality of image continuous in time series for an object image, thereby calculating a tracking score that becomes a lower value as changes in moving amounts and moving directions of the extracted feature points are greater; compares the tracking score with a tracking threshold for tracking, thereby tracking the object for which the tracking score is equal to or greater than the tracking threshold; stores object images of the tracked object; calculates a degree of change of the object on the basis of the stored object images; and executes threshold update processing for changing a value the tracking threshold to be lower if the calculated degree of change is equal to or higher than a predetermined value and maintaining the value of the tracking threshold if the degree of change is lower than the predetermined value. |
