| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a recognizing device and its method requiring no teacher image, capable of realizing real-time processing with the inexpensive constitution, and capable of recognizing even a new car model. <P>SOLUTION: A CPU extracts a plurality of rectangular areas being a vehicle candidate by setting a steadily gazing area in a pickup image of a CCD camera (S1, and S2), derives the sum Ea of respective characteristic factors E1 to E5 (S4) after respectively deriving the respective characteristic factors E1 to E5 to the extracted respective rectangular areas (S3), selects a rectangular area where the sum Ea of the respective characteristic factors E1 to E5 becomes smallest and is smaller than a predetermined threshold value (S5), and predicts a movement of the rectangular area by executing Karman filter processing (S7) since the rectangular area can be determined as a vehicle when there is the time continuity in the sum Ea (YES of S6). <P>COPYRIGHT: (C)2003,JPO |
