Patent ID: 8818026
Filing Date: 2014-08-26
Classification: G01C,G06K,G06T,G08G

Abstract:
1. An object recognition device, comprising: an image-capturing unit mounted to a mobile body; a condition setting unit that specifies a halation region upon images including a road surface captured by the image-capturing unit at different time points, and that executes masking processing for labeling a mask region upon the halation region; an image generation unit that converts the images including the mask region labeled by the condition setting unit to corresponding synthesized images as seen vertically downwards from above; a detection unit that compares a plurality of the synthesized images and detects corresponding road surface regions within the plurality of synthesized images; and a recognition unit that recognizes a manhole present upon the road surface based upon the corresponding road surface regions of the plurality of synthesized images while ignoring the mask region; wherein the recognition unit recognizes the manhole that has a circular or quadrilateral shape by specifying a region based upon a difference in luminance among the corresponding road surface regions of the plurality of synthesized images, and performing circular or quadrilateral shape detection in the specified region, and wherein the recognition unit recognizes the manhole that has the circular shape by determining an external circumferential contour of the specified region, superimposing a standard circle upon the specified region, calculating an overlap ratio of the standard circle with the external circumferential contour, and deciding whether the specified region is circular based on the calculated overlap ratio.