To obtain a position of each ground line of a plurality of three-dimensional objects.SOLUTION: A three-dimensional object detection apparatus is configured to: generate a mask image 90 for masking a difference image G between a first perspective image F1 and a second perspective image F2 captured in the same imaging position O, excluding a three-dimensional object candidate area; generate a mask edge image Ge obtained by masking an edge image E by the mask image 90; identify a ground line for each single three-dimensional object candidate area being a mass of the three-dimensional object candidate area within the mask edge image Ge; and identify a position of the three-dimensional object in the difference image G based on the ground line.SELECTED DRAWING: Figure 2
【課題】複数の立体物の個々の接地線の位置を求めることができるようにする。【解決手段】立体物検出装置は、互いの撮影位置Oが揃った第1俯瞰画像F1、及び第2俯瞰画像F2の差分画像Gにおいて立体物候補領域以外をマスキングするマスク画像90を生成し、当該マスク画像90でエッジ画像Eをマスキングしたマスクエッジ画像Geを生成し、当該マスクエッジ画像Ge内の前記立体物候補領域の塊である単一立体物候補領域ごとに接地線を特定し、当該接地線に基づいて差分画像Gにおける立体物の位置を特定する。【選択図】図2
THREE-DIMENSIONAL OBJECT DETECTION APPARATUS, AND THREE-DIMENSIONAL OBJECT DETECTION METHOD
立体物検出装置、及び立体物検出方法
2022-05-20
Patent
Electronic Resource
Japanese
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