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Abstract

An object recognition system includes one or more image sensors and a controller that is adapted for measuring the distance from the system to objects with respect to respective windows of an image captured by the sensors is provided. The controller forms clusters by uniting adjacent windows that have similar measured distances. The system includes a memory for storing data on a previously recognized physical object. The controller infers a physical object based on data on a previously recognized physical object and the speed of the vehicle relative to a previously recognized physical object and wherein said controller determines a combination of clusters that best matches the inferred physical object. The controller groups the clusters into one or more cluster groups according to the distance from the vehicle carrying the system and selects from one of the cluster groups those clusters that overlaps with a physical object inferred by the controller. The controller matches combinations of the selected clusters with the inferred physical object based on the attributes of the combined clusters and the attributes of the inferred physical object.

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