To provide an object detection device, an object detection method and an object detection program for quickly collecting, under an environment that suits a condition, feature point clouds the accuracy of which in estimating a three-dimensional position is high, in order to detect objects around a vehicle.SOLUTION: Provided is an object detection device 12 which is mounted in a vehicle, in which, when acquiring images needed for estimating a three-dimensional position of a feature point from an onboard camera 16, an initial (first) image is selected so as to have a distance D between the vehicle and an object where the feature point exists, shorter than a prescribed distance X (threshold for the first image photographing condition). When the distance between the vehicle and the object is longer than the distance X, positional accuracy of the extracted feature point is low and estimation accuracy of the three-dimensional position is, consequently, low. Therefore, bringing the vehicle and the object closer to each other than the distance X enables the positional accuracy of the feature point to be maintained at a level of a predetermined reference for accuracy.SELECTED DRAWING: Figure 2
【課題】車両の周囲の物体を検出するために、条件に合う環境下において、三次元位置の推定精度が高い特徴点群を迅速に収集する物体検出装置、物体検出方法及び物体検出プログラムを提供する。【解決手段】車両に搭載される物体検出装置12において、特徴点の三次元位置を推定する場合に必要な画像を、車載カメラ16から取得する場合に、最初(1枚目)の画像を、車両と、特徴点が存在する物体との距離Dが所定距離X(1枚目撮影条件のしきい値)以下とした。車両と物体との距離が距離X以上の場合は、抽出した特徴点の位置精度が低く、結果として、三次元位置の推定精度が低くなるため、車両と物体とを距離X以下とすることで、特徴点の位置精度を予め定めた精度基準とすることができる。【選択図】図2
OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD, AND OBJECT DETECTION PROGRAM
物体検出装置、物体検出方法、物体検出プログラム
2022-09-29
Patent
Electronic Resource
Japanese
Object detection device, object detection method, and object detection program
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