Abstract: A visual recognition device receives video signals representing an object to be recognized from a video camera, converts the video signals to a two-valued input pattern, and compares the input pattern with a standard pattern to recognize the object. The recognition device includes an auxiliary computing unit which carries out a predetermined auxiliary computation during a horizontal scan period of the video camera, in accordance with the state of the input pattern; a main computation unit for carrying out, during a vertical return scan blanking period of the video camera, a main computation based on computation results of the auxiliary computation unit; and a recognition unit for recognizing the input pattern with respect to the standard pattern based on computation results of the main computation unit with respect to the patterns.

Abstract: A system for recognizing a three-dimensional object includes a plurality of image pickup apparatus, e.g. TV cameras, by which images of the object are picked up from at least three directions. Feature points are extracted from each of at least three images obtained. Two sets of feature points on epipolarly lines are formed which lines are formed on at least two of the images by a feature point on another image. A set of feature points is selected which satisfy a restricting condition determined by the relationship of the image picking-up direction.

Abstract: A process for preparing discrimination criteria for color identification comprises reading values representing a plurality of color components delivered from a color sensor for each of a plurality of given reference colors, calculating relative values of the color components, calculating relative values of the color components, calculating the deviation of the relative value of each color component from a specified value, extracting pairs of deviations each having a discrimination distance of at least specified times relative to any other reference color, determining a discrimination criterion between the extracted pair of deviation, and repeating the extracting and determining steps by calculating deviations of higher order with use of the deviations until discrimination criteria are determined for all the given reference colors.