An object detection device is configured to execute a road surface detection process, an object disparity determination process, and an object detection process. The road surface detection process estimates a position of a road surface on the basis of a first disparity map. The first disparity map is generated on the basis of an output of a stereo camera and is a map in which a disparity is associated with two-dimensional coordinates formed by a first direction corresponding to a horizontal direction of an image captured by the stereo camera and a second direction intersecting the first direction. The object disparity determination process determines disparities as object disparities when the number of occurrences of each of the disparities for respective coordinate ranges in the first direction of the first disparity map exceeds a predetermined threshold corresponding to the disparity. The object detection process detects an object by converting information on the object disparities into points on an x-z coordinate space and by extracting a group of points.
OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, MOVING OBJECT, AND OBJECT DETECTION METHOD
OBJEKTERKENNUNGSVORRICHTUNG, OBJEKTERKENNUNGSSYSTEM, BEWEGLICHES OBJEKT UND OBJEKTERKENNUNGSVERFAHREN
DISPOSITIF DE DÉTECTION D'OBJETS, SYSTÈME DE DÉTECTION D'OBJETS, OBJET EN MOUVEMENT ET PROCÉDÉ DE DÉTECTION D'OBJETS
2023-10-18
Patent
Electronic Resource
English
OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, MOVING OBJECT, AND OBJECT DETECTION METHOD
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