Object recognition device and object recognition system

An object recognition device comprising:

• a processor configured to:
• recognize an object by a plurality of functions, based on information which is obtained by measuring the object by a plurality of measurement devices;
• calculate recognition reliability of recognition results for each function;
• and
• combine recognition reliability of the object and the recognition results, detect a specified object, and output detection results of the specified object,
• wherein in a case where information that is measured by the plurality of measurement devices is a captured image which is obtained by capturing an image of the object and a distance image in which distance information to the object is embedded in the captured image,
• the object is recognized based on the captured image, and the object is recognized based on the distance information which is included in the distance image,
• a matching degree of the object is calculated between a feature part that is extracted from the captured image and a pattern identifier that is generated based on sample data which is read from a database,
• a matching degree is calculated between the object in an overhead view image that is obtained by converting a viewpoint of the distance image and a template that is read from the database, and
• recognition reliability is calculated for recognizing the object in the captured image and recognition reliability is calculated for recognizing the object in the distance image.

An object recognition system comprising:

• a plurality of measurement devices that measure an object;
• a recognition unit that recognizes an object by a plurality of functions, based on information which is obtained by measuring the object by the plurality of measurement devices;
• a recognition reliability calculation unit that calculates recognition reliability of recognition results that are obtained by recognizing the object by the recognition unit, for each function;
• a combining unit that combines recognition reliability of the object and the recognition results, detects a specified object, and outputs detection results of the specified object;
• and
• a display unit that displays the detection results,
• wherein in a case where information that is obtained by measuring the object by the plurality of measurement devices is a captured image which is obtained by capturing an image of the object and a parallax image which includes distance information to the object,
• the object is recognized based on the captured image, and the object is recognized based on the distance information which is included in the parallax image,
• a matching degree is calculated between a pattern identifier that is generated based on sample data which is read from a database and a feature part of the object that is extracted from the captured image,
• a matching degree is calculated between a template that is read from the database and three-dimensional information of the object in an overhead view image that is obtained by converting a viewpoint of the parallax image, and
• recognition reliability is calculated for recognizing the object in the captured image and recognition reliability is calculated for recognizing the object in the parallax image.