Object recognition device and object recognition system

Patent metadata

Field	Value
Publication number	US-10540777-B2
Application number	US-201515580478-A
Country	US
Kind code	B2
Filing date	Jun 10, 2015
Priority date	Jun 10, 2015
Publication date	Jan 21, 2020
Grant date	Jan 21, 2020

Abstract

An object recognition device includes a recognition unit, a recognition reliability calculation unit, and a combining unit. A recognition unit recognizes an object by a plurality of functions, based on information which is obtained by measuring an object by a plurality of measurement devices. A recognition reliability calculation unit calculates recognition reliability of recognition results that are obtained by recognizing an object by a recognition unit, for each function. A combining unit combines recognition reliability of the object and recognition results, detects a specified object, and outputs detection results of the specified object.

First claim

The invention claimed is:

1. An object recognition device comprising:
a processor configured to:
recognize an object by a plurality of functions, based on information which is obtained by measuring the object by a plurality of measurement devices;
calculate recognition reliability of recognition results for each function; and
combine recognition reliability of the object and the recognition results, detect a specified object, and output detection results of the specified object,
wherein in a case where information that is obtained by measuring the object by the plurality of measurement devices is a captured image which is obtained by capturing an image of the object and a parallax image which includes distance information to the object,
the object is recognized based on the captured image, and the object is recognized based on the distance information which is included in the parallax image,
a matching degree is calculated between a pattern identifier that is generated based on sample data which is read from a database and a feature part of the object that is extracted from the captured image,
a matching degree is calculated between a template that is read from the database and three-dimensional information of the object in an overhead view image that is obtained by converting a viewpoint of the parallax image, and
recognition reliability is calculated for recognizing the object in the captured image and recognition reliability is calculated for recognizing the object in the parallax image.

2. The object recognition device according to claim 1 , wherein the processor is further configured to:
acquire the captured image and the parallax image from the measurement device,
acquire measurement device information of the plurality of measurement devices from the database,
acquire an image-capturing range division method and matrix data of the recognition reliability which correspond to the measurement device information from the database for each area, and
determine recognition reliability for recognizing the object in the captured image and recognition reliability for recognizing the object in the parallax image for each of the areas which are obtained by dividing the image-capturing range of the captured image in predetermined position and size, based on the image-capturing range division method.

3. The object recognition device according to claim 2 , wherein in a case where results which are obtained by combining a degree indicating that the object which is recognized from the captured image is the specified object, a recognition reliability for recognizing the object in the captured image, a degree indicating that the object which is recognized from the parallax image is the specified object, and recognition reliability for recognizing the object in the parallax image, are equal to or larger than a predetermined value, the obtained results are set to detection results of the specified object.

4. The object recognition device according to claim 3 ,
wherein the measurement device information, the division method, and the recognition reliability can be changed by an input from an operation unit through a graphical user interface (GUI) which is displayed on a display unit, and the measurement device information, the division method, and the recognition reliability which are changed are recorded in the database, and
wherein the recognition reliability is calculated for each of the areas, based on the measurement device information, the division method, and the recognition reliability which are changed and acquired from the database.

5. The object recognition device according to claim 4 , wherein the processor is further configured to:
adjust a function of recognizing the object in the captured image and a function of recognizing the object in the parallax image, based on the measurement device information; and
update the matrix data in which the recognition reliability is stored, based on a function of recognizing the adjusted object.

6. The object recognition device according to claim 5 , wherein the measurement device information includes at least one of an installation environment of each measurement device and internal information of each measurement device.

7. An object recognition device comprising:
a processor configured to:
recognize an object by a plurality of functions, based on information which is obtained by measuring the object by a plurality of measurement devices;
calculate recognition reliability of recognition results for each function; and
combine recognition reliability of the object and the recognition results, detect a specified object, and output detection results of the specified object,
wherein in a case where information that is measured by the plurality of measurement devices is a captured image which is obtained by capturing an image of the object and a distance image in which distance information to the object is embedded in the captured image,
the object is recognized based on the captured image, and the object is recognized based on the distance information which is included in the distance image,
a matching degree of the object is calculated between a feature part that is extracted from the captured image and a pattern identifier that is generated based on sample data which is read from a database,
a matching degree is calculated between the object in an overhead view image that is obtained by converting a viewpoint of the distance image and a template that is read from the database, and
recognition reliability is calculated for recognizing the object in the captured image and recognition reliability is calculated for recognizing the object in the distance image.

8. An object recognition system comprising:
a plurality of measurement devices that measure an object;
a recognition unit that recognizes an object by a plurality of functions, based on information which is obtained by measuring the object by the plurality of measurement devices;
a recognition reliability calculation unit that calculates recognition reliability of recognition results that are obtained by recognizing the object by the recognition unit, for each function;
a combining unit that combines recognition reliability of the object and the recognition results, detects a specified object, and outputs detection results of the specified object; and
a display unit that displays the detection results,
wherein in a case where information that is obtained by measuring the object by the plurality of measurement devices is a captured image which is obtained by capturing an image of the object and a parallax image which includes distance information to the object,
the object is recognized based on the captured image, and the object is recognized based on the distance information which is included in the parallax image,
a matching degree is calculated between a pattern identifier that is generated based on sample data which is read from a database and a feature part of the object that is extracted from the captured image,
a matching degree is calculated between a template that is read from the database and three-dimensional information of the object in an overhead view image that is obtained by converting a viewpoint of the parallax image, and
recognition reliability is calculated for recognizing the object in the captured image and recognition reliability is calculated for recognizing the object in the parallax image.

Assignees

• Hitachi Ltd

Inventors

• Sasatani So
• Itoh Masaya
• Yumiba Ryou

Classifications

• G06V20/64 Primary

  Three-dimensional [3D] objects · CPC title

• G06T7/70 Primary

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• G06T2200/04

  involving 3D image data · CPC title

• G06K9/00671

  Physics · mapped topic

• G06V10/40

  Extraction of image or video features · CPC title