Object recognition device, object recognition method, equipment control system, and distance image generation device

An object recognition method for performing recognition processing on a distance image to recognize an object, the object recognition method comprising:

• determining a valid distance pixel forming the distance image and an invalid distance pixel not forming the distance image, based on a feature value of each pixel in a captured image;
• changing the invalid distance pixel near the valid distance pixel to a valid distance pixel;
• and
• performing recognition processing on the distance image formed by the valid distance pixel determined at the determining and the valid distance pixel obtained at the changing to recognize the object,
• wherein the distance image is generated from a plurality of captured images,
• the object recognition method further comprising:
• setting a valid disparity pair of two adjacent valid disparities out of valid disparities each corresponding to the valid distance pixel in a disparity image, and calculating a positional relation between the valid disparities of the valid disparity pair;
• and
• validating a disparity between the valid disparity pair when a disparity value of the disparity between the valid disparity pair is within a disparity value range determined in accordance with disparity values of the valid disparity pair,
• wherein:
• the setting the valid disparity pair includes
• setting a search range of a disparity to be paired with the valid disparity in the same line as a selected pixel in accordance with a valid disparity as a disparity value of the valid distance pixel and pair interval information indicating an actual width of an object to be detected;
• and
• setting a disparity to be paired in the search range;
• and
• detecting a difference between the valid disparity and the disparity to be paired, and
• the validating validates a disparity between the valid disparity and the disparity to be paired when the difference between the valid disparity and the disparity to be paired is equal to or smaller than a predetermined threshold.

A distance image generation device for outputting a distance image used for recognizing an object to object recognition circuitry that performs recognition processing on the distance image to recognize the object, the distance image generation device comprising:

• determination circuitry configured to determine a valid distance pixel forming the distance image and an invalid distance pixel not forming the distance image, based on a feature value of each pixel in a captured image;
• changing circuitry configured to change the invalid distance pixel near the valid distance pixel to a valid distance pixel;
• and
• generator circuitry configured to generate the distance image formed by the valid distance pixel determined by the determination circuitry and the valid distance pixel obtained by the changing circuitry and output the distance image to the object recognition circuitry,
• wherein the distance image is generated from a plurality of captured images captured by a plurality of imaging circuits,
• the distance image generation device further comprising:
• calculator circuitry configured to set a valid disparity pair of two adjacent valid disparities out of valid disparities each corresponding to the valid distance pixel in a disparity image, and calculate a positional relation between the valid disparities of the valid disparity pair;
• and
• validation circuitry configured to validate a disparity between the valid disparity pair when a disparity value of the disparity between the valid disparity pair is within a disparity value range determined in accordance with disparity values of the valid disparity pair,
• wherein:
• the calculator circuitry includes
• search range setting circuitry configured to set a search range of a disparity to be paired with the valid disparity in the same line as a selected pixel in accordance with a valid disparity as a disparity value of the valid distance pixel and pair interval information indicating an actual width of an object to be detected;
• and
• setting circuitry for a disparity to be paired configured to set the disparity to be paired in the search range;
• and
• difference detecting circuitry configured to detect a difference between the valid disparity and the disparity to be paired, and
• the validation circuitry validates a disparity between the valid disparity and the disparity to be paired when the difference between the valid disparity and the disparity to be paired is equal to or smaller than a predetermined threshold.