特集 センサフュージョン 異種視覚センサ情報処理の中間結果の融合による画像理解

Abstract

In this paper, we propose a scene interpretation system which makes use of intermediate results of multiple visual sensor information processing for the efficient object recognition. By using the intermediate results, the scene interpretation starts just after the neccessary information is obtained. Therefore, the interpretation can be done in ealy stage and the total computation time can be reduced. Since the multi-stage stereo method needs longer time to obtain the range information than color image segmentation, the intermediate result of the stereo method is sent to a fusion process in order to make the interpretation process efficient. The fusion process begins object matching when the necessary information for object recognition is obtained. We apply the method to scenes including cars and obstacles on the ground, and show to which extent we can reduce the computation time by the use of the intermediate results.