Patent ID: 9317754
Filing Date: 2016-04-19
CPC Classification: B60R,G06K,G06T

Claim Text:
1. A solid object identifying apparatus for identifying a solid object existing in an image pickup area having an outer surface facing towards a different direction than a predetermined plane, said solid object identifying apparatus comprising: an imaging part configured to receive two polarized lights having a different polarization direction included in light reflected from an object existing in the image pickup area and to capture two polarization images; a luminance calculating part configured to divide each of the two polarization images captured by the imaging part into predetermined pixels, and to calculate a total luminance value in the two polarization images for each of the predetermined pixels; a polarized intensity difference calculating part configured to calculate a polarized intensity difference indicating a ratio of a polarized intensity difference value between the two polarization images to the total luminance value, for each of the predetermined pixels; a relative polarized intensity difference calculating part configured to set the polarized intensity difference calculated by the polarized intensity difference calculating part to be a reference polarized intensity difference in a reference pixel of which a luminance is relatively greater in a pixel corresponding to a reference plane object assumed beforehand to be in a same plane as the predetermined plane, and to calculate a relative difference value between the reference polarized intensity difference and the polarized intensity difference which is calculated by the polarized intensity difference calculating part for a different pixel from the reference pixel; and a solid object identification processing part configured to: