Object recognition apparatus, objection recognition method, and program

Patent metadata

Field	Value
Publication number	US-2017344850-A1
Application number	US-201715591690-A
Country	US
Kind code	A1
Filing date	May 10, 2017
Priority date	May 25, 2016
Publication date	Nov 30, 2017
Grant date	—

Abstract

An object recognition apparatus includes image information acquisition means for acquiring image information of an object to be recognized, storage means for storing detection profile information associating an object candidate with a detector capable of detecting the object candidate, and model image information of the object candidate associated with the object candidate and object detection means including detectors defined in the detection profile information, the object detection means detecting the object to be recognized by using the detector from the image information acquired by the image information acquisition means. The detector of the object detection means detects the object candidate by comparing the model image information of the object candidate associated with the detector in the detection profile information with the image information of the object to be recognized acquired by the image information acquisition means, and outputs the detected object candidate as the object to be recognized.

First claim

What is claimed is:

1 . An object recognition apparatus comprising:
image information acquisition portion is configured to acquire image information of an object to be recognized; storage portion is configured to store detection profile information associating an object candidate with a detector capable of detecting the object candidate, and model image information of the object candidate associated with the object candidate, the object candidate being a candidate for the object to be recognized; and object detection portion comprising a plurality of detectors defined in the detection profile information, the object detection portion being configured to detect the object to be recognized by using the detector based on the image information acquired by the image information acquisition portion, wherein each of the detectors of the object detection portion is configured to detect the object candidate by comparing the model image information of the object candidate associated with the detector in the detection profile information with the image information of the object to be recognized acquired by the image information acquisition portion, and outputs the detected object candidate as the object to be recognized.

2 . The object recognition apparatus according to claim 1 , wherein
the storage portion stores determination profile information associating the object candidate with a determination unit capable of determining the object candidate, the object recognition apparatus further comprises object determination portion comprising a plurality of determination units defined in the determination profile information, the object determination portion being configured to determine the object candidate output from the object detection portion based on the image information acquired by the image information acquisition portion by using the determination unit, and the object determination portion is configured to:
select a determination unit corresponding to the object candidate detected by the object detection portion based on the determination profile information stored in the storage portion;
determine whether or not the object candidate has reliability equal to or larger than a predetermined value by comparing at least one of color information and distance information of the image information of the object to be recognized acquired by the image information acquisition portion with at least one of color information and distance information of the model image information of the object candidate output from the object detection portion; and
output the object candidate that is determined to have reliability equal to or larger than the predetermined value as the object to be recognized.

3 . The object recognition apparatus according to claim 1 , wherein the object detection portion is configured to detect a position/posture candidate of the object candidate based on a feature value of the image information of the object to be recognized acquired by the image information acquisition portion and a feature value of the model image information of the detected object candidate.

4 . The object recognition apparatus according to claim 3 , wherein further comprising clustering process portion is configured to unify similar candidates among object candidates and position/posture candidates detected by the object detection portion as an identical candidate.

5 . The object recognition apparatus according to claim 3 , further comprising tracking process portion configured to perform a tracking process and outputting a tracking-processed object candidate and its position/posture candidate, the tracking process being a process for obtaining a geometric quantity between a model of a model image of the object candidate and the position/posture candidate detected by the object detection portion and the object to be recognized of the image information, and eliminating an object candidate and a position/posture candidate for which the obtained geometric quantity is equal to or larger than a predetermined quantity from the object candidates and the position/posture candidates detected by the object detection portion.

6 . The object recognition apparatus according to claim 5 , wherein
the storage portion stores information of a nearest neighbor point on the model in the model image from each grid of a three-dimensional voxel enclosing the model to the model, and the tracking process portion is configured to perform the tracking process by using the information of the nearest neighbor point stored in the storage portion.

7 . The object recognition apparatus according to claim 2 , further comprising profile information generation portion is configured to generate at least one of the detection profile information and the determination profile information, the detection profile information associating the object candidate with at least one detector based on feature information indicating a feature of the object candidate including at least one of color information, shape information, inscription information, and physical-property information of the object candidate, the object candidate being a candidate for the object to be recognized, the determination profile information associating the object candidate with at least one determination unit based on feature information indicating a feature of the object candidate including at least one of color information and inscription information of the object candidate.

8 . An object recognition method comprising:
acquiring image information of an object to be recognized; and detecting the object to be recognized by using detectors based on the acquired image information, the detectors defined in detection profile information associating an object candidate with the detector capable of detecting the object candidate, the object candidate being a candidate for the object to be recognized, wherein each of the detectors detects the object candidate by comparing the model image information of the object candidate associated with the detector in the detection profile information with the acquired image information of the object to be recognized, and outputs the detected object candidate as the object to be recognized.

9 . A program for causing a computer to execute:
a process of acquiring image information of an object to be recognized; and a process of, detecting the object to be recognized by using detectors based on the acquired image information, the detectors defined in detection profile information associating an object candidate with the detector capable of detecting the object candidate, the object candidate being a candidate for the object to be recognized, wherein each of the detectors detects the object candidate by comparing the model image information of the object candidate associated with the detector in the detection profile information with the acquired image information of the object to be recognized, and outputs the detected object candidate as the object to be recognized.

Assignees

• Toyota Motor Co Ltd

Inventors

• Kobori Norimasa
• Hashimoto Kunimatsu
• Yamauchi Minoru

Classifications

• G06V10/761

  Proximity, similarity or dissimilarity measures · CPC title

• G06V20/64 Primary

  Three-dimensional [3D] objects · CPC title

• G06F18/22

  Matching criteria, e.g. proximity measures · CPC title

• G06F18/24147

  Distances to closest patterns, e.g. nearest neighbour classification · CPC title

• G06T7/248

  involving reference images or patches · CPC title