OBJECT RECOGNITION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide an object recognition device for a mobile unit, especially an automobile, having a low calculation load and capable of stable recognition, and further to achieve stable recognition even in an object without any texture on the surface.

SOLUTION: The object recognition device for recognizing an object around the mobile unit by processing images on first and second image surfaces having different viewpoints acquired by an imaging means 10 mounted on the mobile unit comprises a feature point detection means 42 for detecting the feature point of an object image on the first and second image surfaces; a basic matrix determining means 43a for determining a basic matrix for indicating a geometrical correspondence relationship based on translation camera motion based on the calculation of an epi-pole by an own epi-polar by using at least two sets of corresponding feature points between the first and second image surfaces; and a three-dimensional position calculating means 43b for calculating the three-dimensional position of an object based on the coordinates of an object on first and second image surfaces and the determined basic matrix.

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