To provide an obstacle detection device having a false detection prevention function.SOLUTION: An obstacle detection device 100 of the present invention comprises: stereo cameras 110L and 110R, which capture left and right IR images; a point group data generation unit 120 that generates point group data with 3D position information from the IR images captured by the stereo cameras 110L and 110 R; an obstacle detection unit 130 that detects an obstacle based on the point group data; an invalid area identification unit 140 that identifies a presence or absence of an invalid area of the point group in the point group data; and an object recognition unit 150 that recognizes a specific object in the invalid area of the point group based on the IR image. When the object recognition unit 150 recognizes a specific object, the obstacle detection unit 130 does not determine the invalid area of the point group as an obstacle.SELECTED DRAWING: Figure 3
【課題】 誤検出防止機能を備えた障害物検出装置を提供する。【解決手段】 本発明の障害物検出装置100は、左右のIR画像を撮像するステレオカメラ110L、110Rと、ステレオカメラ110L、110Rで撮像されたIR画像から3次元位置情報を持つ点群データを生成する点群データ生成部120と、点群データに基づき障害物を検出する障害物検出部130と、点群データに点群の無効エリアの有無を識別する無効エリア識別部140と、IR画像に基づき点群の無効エリアにおいて特定の対象物を認識する対象物認識部150とを含む。障害物検出部130は、対象物認識部150によって特定の対象物が認識された場合、点群の無効エリアを障害物と判定しない。【選択図】 図3
OBSTACLE DETECTION DEVICE, OBSTACLE DETECTION METHOD AND OBSTACLE DETECTION PROGRAM
障害物検出装置、障害物検出方法および障害物検出プログラム
2022-01-18
Patent
Electronic Resource
Japanese
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