| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide solid object recognizing apparatus and method capable of reducing erroneous recognition and surely recognizing a solid object. <P>SOLUTION: The solid object recognizing apparatus is provided with: a stereoscopic camera 5 for photographing the outside of a vehicle from two different positions of the vehicle; a distance image preparation part 21 for transforming a photographed image 10 constituted of a horizontal direction, a vertical direction and a depth distance into a distance image indicating a distance up to a target to be photographed; a visual point transformation part 42 for transforming the distance image into an X-Z plane image 20 (plane image) constituted only of the horizontal direction and the depth direction; and a labeling part 43, a clustering part 44 and an image determination part 45 for recognizing the solid object from parts 21 to 25 in which the data of the X-Z plane image 20 (plane image) constituted only of the horizontal direction and the depth direction are not included. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
