Patent Document ID: 9508000
Application ID: 14748416
Patent Status: 1

Claim One:
1. An object recognition apparatus comprising: a candidate image extraction unit that extracts a candidate image part, which is an image part of an object having a quantity of characteristics of a pedestrian, from a pickup image of a camera; a distance calculation unit that calculates a distance between a corresponding real space position and the camera on the candidate image part extracted by the candidate image extraction unit; and a candidate image determination unit configured to: set a determination area in real space at a predetermined distance in front of the vehicle and bounded by a length in an imaging direction of the camera and a width in a horizontal direction orthogonal to the imaging direction; determine if a first predetermined number of candidate image parts fall within the determination area based on the corresponding real space positions of the candidate image parts; and determine that the candidate image parts having the corresponding real space positions thereof falling within the determination area have a low possibility of being image parts of a pedestrian.