To provide an object detecting device with an arithmetic processing load reduced.SOLUTION: An object detecting device 1 comprises an image receiving unit 10 that receives a plurality of images photographed by a camera 30 mounted on a vehicle; an edge extracting unit 15 that extracts an edge from a first image; and a candidate point calculating unit 16 that obtains a plurality of candidate points which are candidates corresponding to edges in a second image based on movement information. The candidate point calculating unit 16 assumes a plurality of heights as heights of edges and obtains a plurality of candidate points corresponding to the respective heights. The object detecting device 1 comprises a corresponding point detecting unit 17 which calculates a correlation index value between an edge and each of the plurality of candidate points, and determines, when a minimum correlation index value is equal to or less than a predetermined threshold value (that is, when correlation of candidate points having greatest correlation is equal to or larger than predetermined magnitude), that a candidate point is a corresponding point corresponding to the edge. The object detecting device 1 detects, when a height of the corresponding point is not 0, an object at a position of the edge.SELECTED DRAWING: Figure 1

    【課題】演算処理負荷を軽減した物体検出装置を提供することを目的とする。【解決手段】物体検出装置1は、車両に搭載されたカメラ30にて撮影された複数の画像を受信する画像受信部10と、第1の画像の中からエッジを抽出するエッジ抽出部15と、第2の画像においてエッジに対応する候補となる複数の候補点を移動情報に基づいて求める候補点計算部16を備える。候補点計算部16は、エッジの高さとして複数の高さを仮定して、それぞれの高さに対応する複数の候補点を求める。物体検出装置1は、エッジと複数の候補点のそれぞれとの相関指標値を計算し、最小の相関指標値が所定の閾値以下である場合(すなわち、最大の相関を有する候補点の相関が所定の大きさ以上である場合)に、候補点をエッジに対応する対応点であると判定する対応点検出部17を備える。物体検出装置1は、対応点の高さが0ではない場合に、エッジの位置に物体を検出する。【選択図】図1


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    Title :

    OBJECT DETECTING DEVICE, OBJECT DETECTING METHOD, AND PROGRAM


    Additional title:

    物体検出装置、物体検出方法、及びプログラム


    Contributors:

    Publication date :

    2018-12-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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