Patent ID: 11869248
Assignee: DENSO CORPORATION
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. An object recognition device comprising:
an image division section configured to divide a reflection intensity image acquired from a light sensor that receives reflected light from an object when a light beam is emitted to a surrounding area and a background light image acquired from the light sensor when the light sensor does not emit a light beam into the same number of subregions;
a feature amount calculation section configured to calculate a feature amount for recognizing the object for partial image data of each of the subregions of the reflection intensity image and partial image data of each of the subregions of the background light image that have been divided by the image division section;
a data selection section configured to compare the feature amounts calculated for the partial image data of the reflection intensity image and the partial image data of the background light image in the same one of the subregions and to select the one with which the object is more easily recognized as the selected partial image data; and
an object recognition section configured to recognize the object based on overall image data configured by the selected partial image data pieces that have been selected by the data selection section for the respective subregions.