Object recognition apparatus and object recognition program for use in the object recognition apparatus and mobile object control system

摘要

PROBLEM TO BE SOLVED: To provide an object recognition device capable of improving recognition accuracy of an object and reducing wrong recognition.SOLUTION: An object recognition device comprises: stereo image input sections 20 having a stereo image signal sequentially input therein; a luminance image construction section 21 for constructing luminance image frames by sequentially storing and holding stereo images of at least one stereo image input sections for each frame; a parallax image construction section 22 for constructing a parallax image frame by calculating the parallax using the stereo image; and an object recognition section 23 for recognizing an object using the luminance image frame and the parallax image frame. The object recognition section 23 comprises: an object feature amount calculation section 23a for calculating the amount of a parallax feature by the amount of a luminance feature and parallax values of pixels used for the calculation of the amount of the luminance feature; and an object determination processing section 23b for determining an object by calculating an evaluation value for determining the object in accordance with storage data associated with stored amounts of a luminance feature and a parallax feature, and the amounts of the luminance feature and the parallax feature.