To improve performance of an object detection device to detect objects.SOLUTION: An object detection device is configured to execute a road surface detection process, an object parallax determination process, and an object detection process. The road surface detection process estimates a position of a road surface based on a first parallax map. The first parallax map is generated based on output by a stereo camera, and a parallax is associated with a two-dimensional coordinate consisting of a first direction and a second direction. The first direction corresponds to a horizontal direction in an image captured by the stereo camera. The second direction intersects the first direction. The object parallax determination process determines the parallax as an object parallax when the number of appearances of the parallax for each coordinate range in the first direction of the first parallax map exceeds a predetermined threshold value according to the parallax. The object detection process converts information on the object parallax into a point group in an x-z coordinate space, and detects an object by extracting cohesion of point groups.SELECTED DRAWING: Figure 5

    【課題】物体検出装置の物体を検出する性能を向上させる。【解決手段】物体検出装置は、路面検出処理と、物体視差決定処理と、物体検出処理と、を実行するように構成される。路面検出処理は、第1視差マップに基づき路面の位置を推定する。第1視差マップはステレオカメラの出力に基づき生成され、ステレオカメラの撮像画像の水平方向に対応する第1方向と、第1方向に交差する第2方向とから成る2次元座標に視差が対応付けられる。物体視差決定処理は、第1視差マップの第1方向の座標範囲ごとの視差の出現数が視差に応じた所定の閾値を上回る場合、視差を物体視差として決定する。物体検出処理は、物体視差の情報をx−z座標空間上の点群に変換し、点群の纏まりを抽出することにより物体を検出する。【選択図】図5


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    Titel :

    OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, MOVING OBJECT AND OBJECT DETECTION METHOD


    Weitere Titelangaben:

    物体検出装置、物体検出システム、移動体及び物体検出方法


    Beteiligte:
    KONO KENJI (Autor:in) / TAKANO FUKO (Autor:in)

    Erscheinungsdatum :

    2021-04-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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