OBJECT RECOGNITION DEVICE

摘要

A learning unit 4 generates a function table indicating the relationship between the class number and position information of an object and the probability of appearance of the object for each small area image pattern of a code book, calculates a sharing matrix indicating the commonality of a feature amount between the classes, makes a tree diagram in which the classes with a similar feature amount are clustered, and calculates the weight of each node in the tree diagram for each small area image pattern. The recognition processing unit 7 compares image data captured by a camera 2 with the code book, selects the closest small area image pattern among a plurality of small area image patterns, extracts the class related to the node with the smallest weight among the nodes with a weight equal to or greater than a threshold value for the selected small area image pattern, and votes the position information of the small area image pattern for the class, thereby recognizing the object.