The object detection device is configured to execute first processing, second processing, and object detection processing (third, fourth processing). In the first process, the shape of the road surface in the actual space is estimated on the basis of the first disparity map. A first disparity map is generated from an output of a stereo camera that captures an image including a road surface, and the first disparity map is a map in which a disparity obtained from the output of the stereo camera is associated with two-dimensional coordinates comprising a first direction and a second direction intersecting the first direction, the first direction corresponds to the horizontal direction of a shot image of the stereo camera. In the second process, on the basis of the estimated shape of the road surface, disparity corresponding to a height within a predetermined range from the road surface in the actual space is removed from the first disparity map, and a second disparity map is generated. In object detection processing (third, fourth processing), an object is detected on the basis of the second disparity map.

    物体检测装置构成为执行第一处理、第二处理以及物体检测处理(第三、第四处理)。第一处理中,基于第一视差图推定实际空间中的路面的形状。第一视差图是根据拍摄包含路面的图像的立体照相机的输出而生成的,而且,第一视差图是从所述立体照相机的输出获得的视差与由第一方向和与所述第一方向相交的第二方向构成的二维坐标相关联的图,其中,所述第一方向与所述立体照相机的拍摄图像的水平方向相对应。第二处理中,基于推定的路面的所述形状,从第一视差图去除与实际空间中距路面预定范围内的高度对应的视差,生成第二视差图。物体检测处理(第三、第四处理)中,基于第二视差图检测物体。


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    Title :

    Object detection device, object detection system, moving object, and object detection method


    Additional title:

    物体检测装置、物体检测系统、移动体和物体检测方法


    Contributors:

    Publication date :

    2022-04-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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