The object detection device includes a processor. The processor acquires or generates a first parallax image generated based on an output of a stereo camera mounted on a moving body. The first parallax image is formed by arranging pixels indicating parallax on a two-dimensional plane formed by a first direction corresponding to the baseline length direction of the stereo camera and a second direction intersecting with the first direction. The processor approximates, using two straight lines, a relationship between coordinates in a second direction of the road surface in the traveling direction of the moving body included in the first parallax image and a parallax indicating the road surface.
物体检测装置具备处理器。处理器获取或者生成基于安装在移动体上的立体照相机的输出而生成的第一视差图像。第一视差图像是在由立体照相机的基线长度方向所对应的第一方向和与第一方向相交的第二方向构成的二维平面上配置表示视差的像素而成的。处理器利用两条直线对第一视差图像中包含的、移动体的行进方向的路面的第二方向的坐标和表示路面的视差之间的关系进行近似。
Road surface detection device, object detection device, object detection system, moving object, and object detection method
路面检测装置、物体检测装置、物体检测系统、移动体和物体检测方法
2022-04-26
Patent
Electronic Resource
Chinese
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