Object recognition apparatus and object recognition method using epipolar geometry

An object recognition method for processing images, as acquired by an imaging means mounted on a moving object, in a first image plane and a second image plane having different points of view, and recognizing an object in the vicinity of the moving object, the object recognition method comprising:

• a step of detecting feature points of a object image in the first image plane and the second image plane;
• a step of determining a fundamental matrix expressing a geometrically corresponding relationship, based on translational camera movement, between the first image plane and the second image plane, from not less than two pairs of feature points corresponding between the first image plane and the second image plane, on the basis of calculation of epipoles through auto-epipolar property;
• and
• a step of calculating a three-dimensional position of the object based on the coordinates of the object in the first image plane and the second image plane and the determined fundamental matrix;
• wherein the step of determining a fundamental matrix includes generating temporary fundamental matrices, taking feature points in which the distance between a straight line connecting the feature points corresponding to one another in the first image plane and the second image plane and the epipole is less than or equal to a predetermined value as properly-corresponding feature points, and determining the temporary fundamental matrix in which the number of properly-corresponding feature points is greatest as an official fundamental matrix.

A non-transitory computer-readable medium storing an object recognition program that causes a computer to execute a function of processing images, as acquired by an imaging means mounted on a moving object, in a first image plane and a second image plane having different points of view, and recognizing an object in the vicinity of the moving object, wherein the object recognition program comprises:

• a function of detecting feature points of a object image in the first image plane and the second image plane;
• a function of determining a fundamental matrix expressing a geometrically corresponding relationship, based on translational camera movement, between the first image plane and the second image plane, from not less than two pairs of feature points corresponding between the first image plane and the second image plane, on the basis of calculation of epipoles through auto-epipolar property;
• and a function of calculating a three-dimensional position of the object based on the coordinates of the object in the first image plane and the second image plane and the determined fundamental matrix;
• wherein the function of determining a fundamental matrix includes generating temporary fundamental matrices, taking feature points in which the distance between a straight line connecting the feature points corresponding to one another in the first image plane and the second image plane and the epipole is less than or equal to a predetermined value as properly-corresponding feature points, and determining the temporary fundamental matrix in which the number of properly-corresponding feature points is greatest as an official fundamental matrix.