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
2016-11-16
Patent
Electronic Resource
English
THREE-DIMENSIONAL OBJECT RECOGNITION DEVICE, IMAGING DEVICE, AND VEHICLE
European Patent Office | 2019
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