Object recognition processing apparatus, object recognition processing method, and program
AssigneeOMRON Corporation
InventorYoshinori KONISHI
Life of this patent
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Abstract
An object recognition processing apparatus includes: an image obtainment unit that obtains an image; a template matching unit that obtains a recognition result including a plurality of candidates for the object to be recognized by carrying out a template matching process on the image; a candidate exclusion processing unit that excludes a candidate that meets a predetermined condition by generating, for each of the plurality of candidates, a binary image of the object to be recognized, and finding a degree of overlap of each candidate using the binary image; and a recognition result output unit that outputs a candidate that remains without being excluded as a recognition result.
Claims18
An object recognition processing apparatus comprising:
- a processor configured with a program to perform operations comprising:
- operation as an image obtainment unit configured to obtain an image including an object to be recognized;
- operation as a template matching unit configured to obtain a recognition result comprising a plurality of candidates for the object to be recognized by carrying out a template matching process on the image using a plurality of templates, each template having been created using a two-dimensional image showing the object to be recognized from a given viewpoint and registered in advance;
- operation as a candidate exclusion processing unit configured to exclude any candidate, among the plurality of candidates, that meets a predetermined condition, by generating, for each of the plurality of candidates, a binary image of the object to be recognized on the basis of a position and attitude of the candidate, and finding a degree of overlap of each candidate using the binary image;
- and
- operation as a recognition result output unit configured to output any candidate, among the plurality of candidates, that remains without being excluded, as a recognition result.
An object recognition process method executed by a computer, the method comprising:
- obtaining an image including an object to be recognized;
- obtaining a recognition result including a plurality of candidates for the object to be recognized by carrying out a template matching process on the image using a plurality of templates, each template having been created using a two-dimensional image showing the object to be recognized from a given viewpoint and registered in advance;
- excluding any candidate, among the plurality of candidates, that meets a predetermined condition, by generating, for each of the plurality of candidates, a binary image of the object to be recognized on the basis of a position and attitude of the candidate, and finding a degree of overlap of each candidate using the binary image;
- and
- outputting any candidate, among the plurality of candidates, that remains without being excluded, as a recognition result.
A non-transitory computer-readable recording medium storing a program, which, when read and executed, causes a computer to perform operations comprising:
- obtaining an image including an object to be recognized;
- obtaining a recognition result including a plurality of candidates for the object to be recognized by carrying out a template matching process on the image using a plurality of templates, each template having been created using a two-dimensional image showing the object to be recognized from a given viewpoint and registered in advance;
- excluding any candidate, among the plurality of candidates, that meets a predetermined condition, by generating, for each of the plurality of candidates, a binary image of the object to be recognized on the basis of a position and attitude of the candidate, and finding a degree of overlap of each candidate using the binary image;
- and
- outputting any candidate, among the plurality of candidates, that remains without being excluded, as a recognition result.
Dependencies are inferred from the claim text.