PROBLEM TO BE SOLVED: To provide a three-dimensional object detection apparatus, a three-dimensional object detection method and a three-dimensional object detection program capable of detecting a three-dimensional object which requires subpixel accuracy while reducing the memory consumption.SOLUTION: A depth estimation section estimates the depth of corresponding positions among plural images taken from different viewpoints. A reference point setting section sets a reference point at the position the depth of which is estimated. The reference point setting section sets another reference point at a position, which is the position the depth of which is estimated, and which is separated away above in a vertical axis direction on the images relative to the reference point. A range setting section sets a voting range which has an expansion in height and depth above the reference point. The voting section performs a voting processing relative to the reference point in the voting range. A three-dimensional object determination section detects a three-dimensional object on a road surface based on the result of the voting processing.
【課題】サブピクセル精度が要求される立体物であってもメモリ消費量を抑えて立体物の検出を可能にする立体物検出装置、立体物検出方法、および立体物検出プログラムを提供する。【解決手段】奥行推定部は異なる視点の複数の画像間で対応する位置の奥行きを推定する。基準点設定部は奥行きが推定された位置に基準点を設定する。参照点設定部は奥行きが推定された位置であって、基準点に対して画像上の縦軸方向の上方に離れた位置に参照点を設定する。範囲設定部は基準点の上方に、高さと奥行きの広がりを持つ投票範囲を設定する。投票部は投票範囲内にある参照点に対して投票処理を行う。立体物判定部は投票処理の結果に基づいて路面上の立体物を検出する。【選択図】図9
THREE-DIMENSIONAL OBJECT DETECTION APPARATUS, THREE-DIMENSIONAL OBJECT DETECTION METHOD AND THREE-DIMENSIONAL OBJECT DETECTION PROGRAM
立体物検出装置、立体物検出方法、および立体物検出プログラム
2015-10-22
Patent
Electronic Resource
Japanese
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