Object recognition device
Provided is an object recognition device capable of accurately estimating a distance from an own vehicle to an object such as a pedestrian. There are provided: a part specification unit 104 that determines a specific part region in an object by analyzing an image of a region corresponding to the object detected by an overlapping region object detection unit 103 ; an image information storage unit 105 that stores image information on the part region determined by the part specification unit 104 ; a three-dimensional information acquisition unit 106 that acquires three-dimensional information of the part region specified by the part specification unit 104 on the basis of the distance information acquired by a distance information acquisition unit 102 ; a non-overlapping region object detection unit 107 that detects the part region specified by the part specification unit 104 with reference to the image information stored in the image information storage unit 105 for the non-overlapping region; and a distance calculation unit 108 that calculates a distance to an object including the part region on the basis of the detection region information on an image of the part region detected by the non-overlapping region object detection unit 107 and the three-dimensional information acquired by the three-dimensional information acquisition unit 106.
1. An object recognition device comprising:
a sensor information acquisition unit that acquires sensor information obtained by sensing a periphery;
an image acquisition unit that acquires an image obtained by capturing an image of a periphery;
a distance information acquisition unit that acquires distance information with respect to an overlapping region where sensing regions of the sensor information acquisition unit and the image acquisition unit overlap;
an overlapping region object detection unit that detects an object from the overlapping region on a basis of the distance information acquired by the distance information acquisition unit;
a part specification unit that determines a specific part region in the object by analyzing an image of a region corresponding to the object detected by the overlapping region object detection unit;
an image information storage unit that stores image information regarding a part region determined by the part specification unit;
a three-dimensional information acquisition unit that acquires three-dimensional information of a part region specified by the part specification unit on a basis of the distance information acquired by the distance information acquisition unit;
a non-overlapping region object detection unit that refers to the image information stored in the image information storage unit with respect to a non-overlapping region where sensing regions of the sensor information acquisition unit and the image acquisition unit do not overlap, and detects a similar part region having a part region specified by the part specification unit or a part of a part region specified by the part specification unit; and
a distance calculation unit that calculates a distance to an object including the part region or the similar part region on a basis of detection region information on the image of the part region or the similar part region detected by the non-overlapping region object detection unit and the three-dimensional information acquired by the three-dimensional information acquisition unit.
2. The object recognition device according to claim 1 , wherein the three-dimensional information acquired by the three-dimensional information acquisition unit is a height of the part region determined by the part specification unit from a road surface.
3. The object recognition device according to claim 2 , further comprising:
a road surface estimation unit that estimates a shape of a road surface based on the distance information acquired by the distance information acquisition unit, wherein
the distance calculation unit calculates a distance to an object including the part region or the similar part region on a basis of detection region information on an image of the part region or the similar part region detected by the non-overlapping region object detection unit, three-dimensional information acquired by the three-dimensional information acquisition unit, and road surface shape information estimated by the road surface estimation unit.
4. The object recognition device according to claim 1 , wherein the three-dimensional information acquired by the three-dimensional information acquisition unit is an actual size of a height or a width of the part region determined by the part specification unit.
5. The object recognition device according to claim 1 , wherein the part specification unit analyzes a luminance value of an image, and determines the part region on a basis of a contrast change of brightness and darkness.
6. The object recognition device according to claim 1 , further comprising:
a time-series similar part specification unit that determines the similar part region having a similar appearance in a current frame to a part region of a past frame stored in the image information storage unit, wherein
the image information storage unit stores image information of the similar part region determined by the time-series similar part specification unit.
7. The object recognition device according to claim 6 , wherein the time-series similar part specification unit divides a part region of a past frame stored in the image information storage unit into a plurality of part regions, and determines the similar part region corresponding to the divided part region in a current frame.