To detect an obstacle in an imaging range of an imaging device with high precision.SOLUTION: An obstacle detection device comprises: a reception part that receives an input of an image in a predetermined imaging range imaged at a predetermined image rate by an imaging device; a difference acquisition part that acquires a difference between an input image and a first image as a past image from the input image in a predetermined region in the image imaged by the imaging device; and a detection part that detects an obstacle within an imaging range on the basis of the difference. The difference acquisition prat acquires a first difference by using the image before a predetermined number of frames from the image input as the first image, and acquires a second difference as a first image by using the input image or the image before a predetermined number of frames which is used when the obstacle within the image range is detected on the basis of the first difference, after the obstacle within the image range is detected on the basis of the first difference.SELECTED DRAWING: Figure 6
【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について、入力された画像と、入力された画像よりも過去の画像である第1の画像と、の間で差分を取得する差分取得部と、当該差分に基づいて、撮像範囲内の障害物を検知する検知部と、を備える。差分取得部は、第1の画像として入力された画像よりも所定フレーム数前の画像を用いて第1の差分を取得し、第1の差分に基づいて撮像範囲内の障害物が検知された以降は、第1の差分に基づいて撮像範囲内の障害物が検出された場合に用いられていた、入力された画像又は所定フレーム数前の画像のいずれかを第1の画像として用いて第2の差分を取得する。【選択図】図6
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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