US 6,788,817 B1 · Object recognition system

Abstract

An object recognition system including a position sensor, an image sensor and a controller is provided. The position sensor determines the position of an object, and the image sensor captures an image of the object. The controller sets a processing area within the image captured by the image sensor based on the position of the object determined by the position sensor and a predetermined size for the object to be recognized. The controller extracts horizontal edges from the processing area, and identifies horizontal edges belonging to the outline of the object from the extracted edges. Thus, the object can be recognized based on the horizontal edges only. Similarly, the controller can extract vertical edges from the processing area and identify vertical edges belonging to the outline of the object. Preferably, the controller selects upper, lower, left, and right horizontal and vertical candidate ends of the object from the identified horizontal and vertical edges respectively, from which upper, lower, left, and right ends of the object are determined. If either one or both of the left and right horizontal candidate ends cannot be selected, candidate ends can be estimated based on the position of the object recognized in a previous recognition cycle, and the estimated candidate ends can be used in lieu of the candidate ends selected from the horizontal edges.

Claims11

Dependent claims

An object recognition system comprising:

a position sensor for determining a position of an object;
an image sensor for capturing an image of the object;
and
a controller programmed to:
set a processing area within the image captured by the image sensor based on the position of the object determined by the position sensor and a predetermined size for the object to be recognized,
extract horizontal edges vertical edges from the processing area,
identify horizontal edges vertical edges belonging to an outline of the object from the extracted horizontal edges and vertical edges;
select left and right candidate ends from the identified horizontal edges;
select left and right candidate ends from the identified vertical edges;
determine left and right ends of the object based on the left and right candidate ends selected from the horizontal edges and the left and right candidate ends selected from the vertical edges;
and
recognize the outline of the object according to the determined left and right ends,
wherein the left and right candidate ends selected from the vertical edges are chosen as the left and right ends of the object respectively;
and
wherein if said controller cannot select either one or both of the left and right candidate ends from the vertical edges, then the left or right end of the object is determined by the left or right candidate end selected from the horizontal edges in lieu of the left or right candidate end selection from the vertical edges.

12 more elements

A method for recognizing an object comprising the steps of:

determining a position of the object;
capturing an image of the object;
setting a processing area within the image based on the determined position of the object and a predetermined size for the object to be recognized;
extracting horizontal edges vertical edges from the processing area;
judging whether each of the extracted horizontal edges vertical edges belongs to the object based on characteristics of the object to be recognized;
identifying horizontal edges vertical edges belonging to an outline of the object from the horizontal edges vertical edges judged to belong to the object;
selecting left and right candidate ends from the identified horizontal edges;
selecting left and right candidate ends from the identified vertical edges;
determining left and right ends of the object based on the left and right candidate ends selected from the horizontal edges and the left and right candidate ends selected from the vertical edges;
and
recognizing the outline of the object according to the determined left and right ends,
wherein the left and right candidate ends selected from the vertical edges are chosen as the left and right ends of the object respectively;
and
wherein if either one or both of the left and right candidate ends cannot be selected from the vertical edges, then the left or right end of the object is determined by the left or right candidate end selected from the horizontal edges in lieu of the left or right candidate end selected from the vertical edges.

11 more elements

An object recognition system comprising:

a position sensor for determining a position of an object;
an image sensor for capturing an image of the object;
means for setting a processing area within the image captured by the image sensor based on the position of the object determined by the positioning sensor and a predetermined size for the object to be recognized;
means for extracting horizontal edges vertical edges from the processing area;
means for judging whether each of the extracted horizontal edges vertical edges belongs to the object based on characteristics of the object to be recognized;
and
means for identifying horizontal edges vertical edges belonging to an outline of the object from the horizontal edges vertical edges judged to belong to the object;
means for selecting left and right candidate ends from the identified horizontal edges;
means for selecting left and right candidate ends from the identified vertical edges;
means for determining left and right ends of the object based on the left and right candidate ends selected from the horizontal edges and the left and right candidate ends selected from the vertical edges;
and
means for recognizing the outline of the object according to the and right ends,
wherein the left and right candidate ends selected from the vertical edges chosen as the left and right ends of the object respectively;
and
wherein if either one or both of the left and right candidate ends cannot be selected from the vertical edges, then the left or right end of the object is determined by the left or right candidate end selected from the horizontal edges in lieu of the left or right candidate end selected from the vertical edges.

12 more elements

Dependencies are inferred from the claim text.

Object recognition system

Life of this patent

Object recognition system

Life of this patent

Abstract

Claims11