US 12,094,227 B2
Object recognition device and object recognition method
Yoshinori Konishi, Kyoto (JP)
Assigned to OMRON CORPORATION, Kyoto (JP)
Appl. No. 17/614,642
Filed by OMRON Corporation, Kyoto (JP)
PCT Filed Jun. 12, 2019, PCT No. PCT/JP2019/023330
§ 371(c)(1), (2) Date Nov. 29, 2021,
PCT Pub. No. WO2020/250348, PCT Pub. Date Dec. 17, 2020.
Prior Publication US 2022/0230459 A1, Jul. 21, 2022
Int. Cl. G06V 20/64 (2022.01); G06T 11/00 (2006.01)
CPC G06V 20/647 (2022.01) [G06T 11/00 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An object recognition apparatus, comprising:
a three-dimensional data obtainer configured to obtain three-dimensional data including a plurality of points each having three-dimensional information;
a parallel projection converter configured to generate a two-dimensional image by parallel projection of the plurality of points included in the three-dimensional data onto a projection plane; and
a recognition processor configured to detect a target object in the two-dimensional image using template matching, wherein
in response to a first point included in the three-dimensional data being projected onto a first pixel in the two-dimensional image, i) depth information determined from the three-dimensional information about the first point, ii) luminance information that the first point has, or iii) color information that the first point has is associated with the first pixel by the parallel projection converter.