To provide an obstacle detection device capable of preventing a false detection of an obstacle due to direct sunlight.SOLUTION: An obstacle detection device 100 of the present invention comprises: stereo cameras 110 L and 110 R that 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 110 L and 110 R; an obstacle detection unit 130 that detects obstacles based on the point group data; a direct sunlight determination unit 140 that determines a presence or absence of direct sunlight based on the IR images; and an influence determination unit 150 that determines an influence of the direct sunlight on a road surface when the direct sunlight determination unit 140 determines that there is direct sunlight. When the influence determination unit 150 determines that the road surface is influenced by the direct sunlight, the obstacle detection unit 130 outputs that the obstacle detection is not normal.SELECTED DRAWING: Figure 5

    【課題】 直射日光による障害物の誤検出を防止することができる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、IR画像に基づき直射日光の有無を判定する直射日光判定部140と、直射日光判定部140により直射日光ありと判定された場合、直射日光による路面への影響を判定する影響判定部150とを含む。障害物検出部130は、影響判定部150によって路面への影響ありと判定された場合、障害物の検出が正常でないことを出力する。【選択図】 図5


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    Title :

    OBSTACLE DETECTION DEVICE AND MOVING OBJECT


    Additional title:

    障害物検出装置および移動体


    Contributors:

    Publication date :

    2022-03-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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