US 12,175,765 B2
Object recognition apparatus and object recognition program product
Akihiro Tsukada, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Mar. 18, 2022, as Appl. No. 17/655,424.
Application 17/655,424 is a continuation of application No. PCT/JP2020/033958, filed on Sep. 8, 2020.
Claims priority of application No. 2019-172398 (JP), filed on Sep. 23, 2019.
Prior Publication US 2022/0207884 A1, Jun. 30, 2022
Int. Cl. G06V 20/58 (2022.01); G06V 10/60 (2022.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01)
CPC G06V 20/58 (2022.01) [G06V 10/60 (2022.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/188 (2022.01)] 10 Claims
OG exemplary drawing
 
1. An object recognition apparatus recognizing an object existing around a vehicle using image information, which includes a camera image acquired from an external view camera and a sensor image acquired from a distance measuring sensor, the external view camera being equipped to the vehicle and generating the camera image by sensing incident visible light with a camera element, the distance measuring sensor being equipped to the vehicle and generating, as the sensor image, a reflected light image by emitting near-infrared light toward a peripheral area and sensing, with a light receiving element, reflected near-infrared light from the object, the distance measuring sensor further generating, as the sensor image, a background light image by sensing, with the light receiving element, near-infrared background light with respect to the reflected near-infrared light, the object recognition apparatus comprising:
an image information acquisition unit that acquires the image information of the distance measuring sensor and the image information of the external view camera; and
a recognition unit that recognizes a plant existing around the vehicle with consideration of an intensity difference between an intensity of the camera image and an intensity of the sensor image, wherein
the sensor image is provided by both of the reflected light image and the background light image, and
the recognition unit recognizes the plant existing around the vehicle with consideration of both of (i) the intensity difference between the intensity of the camera image and an intensity of the reflected light image and (ii) the intensity difference between the intensity of the camera image and an intensity of the background light image.