The object detection device includes a processor. The processor is configured to detect a straight line of a predetermined length by using Hough transform on coordinate points of the UD map, and to detect an object parallax corresponding to the detected straight line of the predetermined length as a parallax corresponding to an object parallel to a traveling direction of the stereoscopic camera. The UD map is a map in which a target parallax satisfying a predetermined condition among parallax acquired from a captured image is associated with coordinate points of two-dimensional coordinates comprising a first direction and a direction corresponding to the size of the parallax. The first direction corresponds to a horizontal direction of a captured image generated by capturing a road surface by the stereoscopic camera. The processor is configured to convert each coordinate point associated with the object parallax and a straight line in a predetermined range based on the vanishing point into a Hough space in Hough transformation.
物体检测装置具备处理器。处理器构成为,通过对UD图的坐标点使用霍夫变换来检测规定长度的直线,并将检测到的规定长度的直线所对应的对象视差检测为与立体摄像头的行进方向平行的物体所对应的视差。UD图是使从拍摄图像获取的视差中的、满足规定条件的对象视差与由第一方向和视差的大小所对应的方向构成的二维坐标的坐标点相关联而成的图。第一方向对应于由立体摄像头拍摄路面而生成的拍摄图像的水平方向。处理器构成为在霍夫变换中,将通过对象视差所相关联的各坐标点和基于消失点的规定范围的直线转换至霍夫空间。
Object detection device, object detection system, moving object, and object detection method
物体检测装置、物体检测系统、移动体和物体检测方法
2022-04-29
Patent
Electronic Resource
Chinese
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