OBJECT IDENTIFICATION DEVICE, SYSTEM FOR MOVING OBJECT, OBJECT IDENTIFICATION METHOD, LEARNING METHOD OF OBJECT IDENTIFICATION MODEL AND LEARNING DEVICE FOR OBJECT IDENTIFICATION MODEL

摘要

To provide an object identification device capable of grasping an object more properly.SOLUTION: An ECU as an object identification device communicably connected an imaging part installed in a vehicle identifies an object in an environment of the vehicle. The ECU comprises: an image acquisition part acquiring an image picked up by the imaging part; and a view point conversion map generation part 60 outputting a viewpoint conversion map MB obtained by converting the image acquired by the image acquisition part into a different viewpoint from the imaging viewpoint via a folding neural network. The view point conversion map generation part 60 has: an encoder 61 that applies a folding calculation to data of the image and extracts a feature map of the object in an imaging coordinate system; and a warp application part 65 and a decoder 66 that apply a warp function associating a location of an overview coordinate system with a location of the imaging coordinate system to the feature map extracted by the encoder 61 to output a view point conversion map MB identifying the object in a region of the overview coordinate system.SELECTED DRAWING: Figure 10