A three-dimensional object recognition device (100) includes: a matching unit (124) configured to compare a three-dimensional object in an image based on the image data with a three-dimensional shape model corresponding to the three-dimensional object to associate correlated feature points with each other by pattern matching; a model updating unit (128) configured to update the three-dimensional shape model based on the feature points associated by the matching unit; a motion estimation unit (130) configured to estimate motion of the three-dimensional object based on a history of the position and attitude of the three-dimensional shape model updated by the model updating unit to estimate a three-dimensional shape model at an arbitrary time in the future; and a validity determination unit (126) configured to compare the feature points associated by the matching unit with the three-dimensional shape model estimated by the motion estimation unit and cause the model updating unit to update the three-dimensional shape model based on only the feature points determined to be valid.
THREE-DIMENSIONAL OBJECT RECOGNITION DEVICE AND THREE-DIMENSIONAL OBJECT RECOGNITION METHOD
VORRICHTUNG ZUR ERKENNUNG DREIDIMENSIONALER OBJEKTE UND VERFAHREN ZUR ERKENNUNG DREIDIMENSIONALER OBJEKTE
DISPOSITIF DE RECONNAISSANCE D'OBJET TRIDIMENSIONNEL ET PROCÉDÉ DE RECONNAISSANCE D'OBJET TRIDIMENSIONNEL
16.11.2016
Patent
Elektronische Ressource
Englisch
THREE-DIMENSIONAL OBJECT RECOGNITION DEVICE, IMAGING DEVICE, AND VEHICLE
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