Provided is a road obstacle detection method including: a region segmentation step of segmenting an input image into a plurality of local regions; and a likelihood calculation step of calculating a probability of presence of the road obstacle in a target local region based on a probability that the target local region is not a normal object set in advance and a degree of visual saliency defined by a relationship between a surrounding local region and the target local region, wherein the degree of the visual saliency is calculated to be larger as a probability that the surrounding local region is a road is higher and calculated to be larger as a difference in visual characteristics between the target local region and the surrounding local region is larger.
ROAD OBSTACLE DETECTION DEVICE, METHOD, AND PROGRAM
2018-11-15
Patent
Electronic Resource
English
ROAD OBSTACLE DETECTION APPARATUS, ROAD OBSTACLE DETECTION METHOD, AND PROGRAM
European Patent Office | 2022
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