To provide an object recognizing device and an object recognizing method with which it is possible to heighten the resolution of distance measurement point group data generated by a three-dimensional distance sensor without using a plurality of frames.SOLUTION: An object recognizing ECU 13 includes an onboard patch pair DB 133 in which a high resolution patch and a low resolution patch regarding distance measurement point group data are stored. A clustering unit F2 of the object recognizing ECU 13 extracts point group data in cluster units from the distance measurement point group data provided from an onboard LIDAR 11, and a patch extraction unit F32 extracts a plurality of target patches from the cluster point group to be processed. A patch search unit F33 searches for a low-resolution patch most similar to the target patch extracted from a target cluster within the onboard patch pair DB 133, and a patch synthesizing unit F34 applies, to the extraction source region of the target patch, a high-resolution patch that is correlated to a low-resolution patch the similarity of which to the target patch is high.SELECTED DRAWING: Figure 1

    【課題】複数分のフレームを用いずに、3次元距離センサが生成した測距点群データの解像度を高めることが可能な物体認識装置、及び物体認識方法を提供する。【解決手段】物体認識ECU13は、測距点群データについての高解像パッチと低解像パッチとを記憶している車載パッチペアDB133を備える。物体認識ECU13のクラスタリング部F2は、車載LIDAR11から提供された測距点群データからクラスタ単位で点群データを抽出し、パッチ抽出部F32は処理の対象とするクラスタ点群から複数の対象パッチを抽出する。パッチ探索部F33は、対象クラスタから抽出した対象パッチと、車載パッチペアDB133内で最も類似する低解像パッチを探索するとともに、パッチ合成部F34は、対象パッチの抽出元領域に、当該対象パッチと類似度が高い低解像パッチと対応付けられている高解像パッチを当てはめる。【選択図】図1


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    Title :

    OBJECT RECOGNIZING DEVICE AND OBJECT RECOGNIZING METHOD


    Additional title:

    物体認識装置、及び物体認識方法


    Contributors:
    SAKAI EI (author)

    Publication date :

    2019-10-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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