Patent ID: 8031908
Filing Date: 2011-10-04
Classification: B60W,G01B,G01S,G06K,G08G

Abstract:
1. An object recognizing apparatus for recognizing an object present outside a movable body, comprising: an object detecting section for detecting surface shape information of the object present outside the movable body; a shape model setting section for extracting arbitrary samples, up to a predetermined number of times, from a group of samples together constituting said surface shape information and then setting a shape model based on said extracted samples; a conformance degree calculating section for calculating a conformance degree of said each shape model relative to said sample group; and a profile shape determining section for determining the shape model as a profile shape, based on the calculated conformance degree of the shape model; wherein said profile shape determining section is configured such that if said conformance degree greater than a first reference value is found, the shape model having said conformance degree greater than the first reference value is determined at once as said profile shape, irrespectively of said predetermined number of times; whereas, if no conformance degree greater than said first reference value is found, then, a shape model having a conformance degree which is greater than a second reference value smaller than said first reference value and which also is the greatest conformance degree of said conformance degrees obtained by said predetermined number of times is determined as said profile shape, and if no conformance degree greater than said second reference value is found, it is determined that no shape model corresponds to said profile shape.