Object recognition system

摘要

An object recognition system comprises at least two image sensors and a controller that is adapted for measuring the distance from the system to a physical object with respect to respective windows of an image captured by the sensors. The controller is further programmed to form clusters by uniting adjacent windows that have similar measured distances. The controller is programmed to judge whether each of the clusters is valid or invalid based on the attributes of the cluster, and to recognize an object based on the clusters judged to be valid. In one embodiment, the attributes of the cluster is an area of the cluster. The controller calculates the area of the cluster based on the number of windows contained in the cluster and measured distance of each of the windows, and judges that the cluster is valid if the area is larger than a predetermined threshold value. The controller detects any failed state of the captured image based on the number of clusters judged to be invalid. In another embodiment, the attributes of the cluster is the number of windows contained in the cluster. The controller judges that the cluster is valid if the number of windows contained in the cluster is larger than a threshold value that is predetermined according to the measured distances of the windows contained in the cluster. The controller detects any failed state of the captured image based on the ratio of the number of the clusters judged to be invalid to the total number of clusters contained in the captured image.