To provide an object detection method, or the like, for accurately detecting an object existing in a space under a vehicle body.SOLUTION: An object detection method include: acquiring videos obtained by imaging the surroundings of a vehicle 100 from each of imaging apparatuses 10a-10d while the vehicle 100 is stopped (S12); detecting disappearance of a moving object existing in imaging areas Ra-Rd of the imaging apparatuses 10-10d, in the vicinity of the vehicle 100, on the basis of the videos (S13); detecting appearance of the moving object from the vicinity of the vehicle 100 into the imaging areas Ra-Rd on the basis of the videos (S16); determining whether the moving object exists under the vehicle 100 on the basis of results of detecting disappearance and appearance, at the end of stopping of the vehicle 100 (S20); and outputs information indicating that the moving object exists under the vehicle 100 (S21) when the moving object exists under the vehicle 100 (Yes in S20).SELECTED DRAWING: Figure 3
【課題】車体下部の空間に存在する物体を精度よく検出することができる物体検出方法等を提供する。【解決手段】物体検出方法は、車両100が停車している状態で、複数の撮像装置10a〜10dのそれぞれから車両100の周囲を撮像した映像を取得し(S12)、複数の映像に基づいて、複数の撮像装置10a〜10dの撮像領域Ra〜Rd内に存在している移動物体の、車両100の近傍での消失を検出し(S13)、複数の映像に基づいて、車両100の近傍から撮像領域Ra〜Rd内への移動物体の出現を検出し(S16)、車両100の停車が終了した時点において、消失の検出結果及び出現の検出結果に基づいて、車両100の下に移動物体が存在するか否かを判定し(S20)、車両100の下に移動物体が存在する場合(S20でYes)、車両100の下に移動物体が存在することを示す情報を出力する(S21)。【選択図】図3
OBJECT DETECTION METHOD, OBJECT DETECTION APPARATUS, AND PROGRAM
物体検出方法、物体検出装置、及び、プログラム
2021-10-11
Patent
Electronic Resource
Japanese
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