Patent ID: 7298907
Filing Date: 2007-11-20
Classification: G06K,G06T

Abstract:
1. A target recognizing device comprising: an image acquiring device which acquires images including a target, while performing rotational movement; a driving device which rotates the image acquiring device; a template storing device which stores a template used for recognizing the target, the template including a plurality of pixels each having a pixel-gradation value and a weighting value; a template updating device which updates the template by updating the pixel-gradation value and the weighting value, when the image acquiring device directs a predetermined direction, or in accordance with a control signal input from outside; a recognition processing device which compares a newly obtained image and an updated template for each pixels, and calculates the pixel-gradation value that can be obtained for each pixels, and an evaluation function value based on an optical flow; and an operation instruction device which outputs an operation instruction to the driving device in accordance with the direction of the image acquiring device and the evaluation function value, wherein the recognition processing device calculates: a degree of approximation of the each pixels by comparing the pixel-gradation value of the each pixels of the images of the pixel-gradation value of the corresponding pixels of the template; the optical flow of the pixels based on the continuous images, a local shift quantity of the each pixels by multiplying the degree of approximation by the optical flow; and the evaluation function value by summing up all values obtained by multiplying the local shift quantity and the weighting value for the each pixels.