To accurately detect obstacles within an imaging range of an imaging device.SOLUTION: An obstacle detection device comprises: a reception part for receiving the input of an image within a predetermined imaging range captured at a predetermined imaging rate by an imaging device; a calculation part for obtaining a difference in pixel values between the inputted image and an image captured at a predetermined number of frames earlier than the inputted image with respect to each pixel within the predetermined range in the image captured by the imaging device, and calculating a value indicating the total number of pixels at which the difference in the pixel values is equal to or greater than a predetermined threshold with respect to at least each column of a first direction and a second direction; and a detection part for detecting obstacles within the imaging range on the basis of at least the value of each column for the first direction and the second direction.SELECTED DRAWING: Figure 4B
【課題】撮像装置の撮像範囲内の障害物を精度よく検知する。【解決手段】障害物検知装置は、撮像装置によって所定の撮像レートで撮像される所定の撮像範囲内の画像の入力を受け付ける受付部と、撮像装置によって撮像される画像内の所定領域内の各画素について、入力された画像と、入力された画像より所定フレーム数前の画像と、の間で画素値の差分を取得し、少なくとも第1の方向及び第2の方向の各列について、画素値の差分が所定の閾値以上である画素の総数を示す値を算出する算出部と、少なくとも第1の方向及び第2の方向の各列の当該値に基づいて、撮像範囲内の障害物を検知する検知部と、を備える。【選択図】図4B
OBSTACLE DETECTION DEVICE, OBSTACLE DETECTION METHOD, AND OBSTACLE DETECTION PROGRAM
障害物検知装置、障害物検知方法、及び、障害物検知プログラム
2019-03-14
Patent
Electronic Resource
Japanese
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