PROBLEM TO BE SOLVED: To provide an object detection device capable of precisely calculating a time to collision (TTC).SOLUTION: The object detection device includes: an object lower end detection section 104 that detects a tracking part of an object as an imaging target in chronological order from an image picked up by an imaging apparatus provided to a movable body moving on a road surface based on changes in distance corresponding to the tracking part; a TTC calculation section 110 that calculates the time up to a point when a moving body collide against the object; and a distance correction section 109 that, when a present first tracking part detected by the object lower end detection section 104 is displaced from the present second tracking part which is predicted based on the previous distance, corrects the previous distance to a distance corresponding to a first tracking part.SELECTED DRAWING: Figure 13
【課題】正確なTTCを算出できる物体検出装置を提供する。【解決手段】路面上を移動可能な移動体に設置された撮像装置による画像から、撮像対象としての物体の追跡部分を時系列で検出する物体下端検出部104と、追跡部分に応じた距離の変化に基づいて、移動体が物体に接触するまでの時間を算出するTTC算出部110と、物体下端検出部104によって検出された現在の第1の追跡部分が過去の距離に基づいて予測される現在の第2の追跡部分からずれている場合に、過去の距離を第1の追跡部分に応じた距離に補正する距離補正部109と、を備える。【選択図】図13
OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD, AND OBJECT DETECTION PROGRAM
物体検出装置、物体検出方法、及び物体検出プログラム
2016-12-08
Patent
Elektronische Ressource
Japanisch
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