An object detection device is configured to execute a first process, a second process, and an object detection process (third and fourth processes). The first process estimates a shape of a road surface in a real space on the basis of a first parallax map. The first parallax map is generated on the basis of an output of a stereo camera that captures an image including the road surface, and is a map in which a parallax obtained from the output of the stereo camera is associated with two-dimensional coordinates formed by a first direction corresponding to a horizontal direction of the image captured by the stereo camera and a second direction intersecting the first direction. The second process removes from the first parallax map a parallax for which a height from the road surface in the real space corresponds to a predetermined range on the basis of the estimated shape of the road surface to generate a second parallax map. The object detection process (third and fourth processes) detects an object on the basis of the second parallax map.
OBJECT DETECTING DEVICE, OBJECT DETECTING SYSTEM, AND METHOD OF DETECTING MOVING BODY AND OBJECT
OBJEKTERFASSUNGSVORRICHTUNG, OBJEKTERFASSUNGSSYSTEM UND VERFAHREN ZUM ERFASSEN EINES BEWEGTEN KÖRPERS UND OBJEKT
DISPOSITIF DE DÉTECTION D'OBJET, SYSTÈME DE DÉTECTION D'OBJET, ET PROCÉDÉ DE DÉTECTION DE CORPS MOBILE ET OBJET
2023-10-11
Patent
Electronic Resource
English
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