JP4946535B2 - 画像認識装置 - Google Patents
画像認識装置 Download PDFInfo
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- JP4946535B2 JP4946535B2 JP2007062487A JP2007062487A JP4946535B2 JP 4946535 B2 JP4946535 B2 JP 4946535B2 JP 2007062487 A JP2007062487 A JP 2007062487A JP 2007062487 A JP2007062487 A JP 2007062487A JP 4946535 B2 JP4946535 B2 JP 4946535B2
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- 238000009826 distribution Methods 0.000 claims description 29
- 238000003384 imaging method Methods 0.000 claims description 14
- 230000007423 decrease Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 230000006837 decompression Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
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Description
FANG,S. AND CHEN,H.2000.Hardware AcceleratedVoxelization.Computers&Graphics 24,3(June),433-442.
Claims (2)
- 撮像部により取得した対象物の撮像画像を用いて前記対象物を認識する画像認識装置において、
前記対象物の撮像画像に基づいて、前記対象物の表面に対応する複数の点を三次元空間上に復元する三次元復元手段と、
前記復元された複数の点を含む三次元空間を複数のボクセルに分割する空間分割手段と、
前記復元された各点と前記撮像部とを結ぶ複数の仮想線上に、前記撮像部側に近づくにつれて存在確率が低くなるような存在確率分布をそれぞれ定義する存在確率定義手段と、
複数の前記仮想線が通過する前記ボクセルに対し、複数の前記仮想線上に定義された存在確率を全て対応付けする存在確率対応付け手段と、
前記ボクセルに対して対応付けされた全ての存在確率の統計データに基づいて、前記ボクセルに相当する位置に前記対象物が存在するかどうかを判断する判断手段とを備えることを特徴とする画像認識装置。 - 前記判断手段は、前記統計データとして、前記ボクセルに対して対応付けされた全ての存在確率の平均値を求め、前記存在確率の平均値が閾値よりも高いかどうかに基づいて前記ボクセルに相当する位置に前記対象物が存在するかどうかを判断することを特徴とする請求項1記載の画像認識装置。
Priority Applications (1)
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JP2007062487A JP4946535B2 (ja) | 2007-03-12 | 2007-03-12 | 画像認識装置 |
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JP2007062487A JP4946535B2 (ja) | 2007-03-12 | 2007-03-12 | 画像認識装置 |
Publications (2)
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JP2008225787A JP2008225787A (ja) | 2008-09-25 |
JP4946535B2 true JP4946535B2 (ja) | 2012-06-06 |
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JP2007062487A Expired - Fee Related JP4946535B2 (ja) | 2007-03-12 | 2007-03-12 | 画像認識装置 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20210166426A1 (en) * | 2018-08-13 | 2021-06-03 | Imperial College Innovations Limited | Mapping object instances using video data |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013076621A (ja) * | 2011-09-30 | 2013-04-25 | Nippon Hoso Kyokai <Nhk> | 距離指標情報推定装置及びそのプログラム |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0981788A (ja) * | 1995-09-12 | 1997-03-28 | Toshiba Corp | 環境モデル入力装置 |
JPH09231369A (ja) * | 1996-02-21 | 1997-09-05 | Canon Inc | 画像情報入力装置 |
JP4479372B2 (ja) * | 2004-06-25 | 2010-06-09 | ソニー株式会社 | 環境地図作成方法、環境地図作成装置、及び移動型ロボット装置 |
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2007
- 2007-03-12 JP JP2007062487A patent/JP4946535B2/ja not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20210166426A1 (en) * | 2018-08-13 | 2021-06-03 | Imperial College Innovations Limited | Mapping object instances using video data |
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JP2008225787A (ja) | 2008-09-25 |
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