Title:
物体検出装置、物体検出方法、及びプログラム
Document Type and Number:
Japanese Patent JP6782192
Kind Code:
B2
Abstract:
An object detection device acquires a plurality of images captured by a camera mounted in a moving body and acquires movement information of the camera. The object detection device extracts an edge from a first image among the acquired images. The object detection device calculates a plurality of candidate points corresponding to the edge in a second image, based on the movement information and calculates candidate points corresponding to a plurality of heights as height candidates of the edge. The object detection device calculates a correlation index value between the edge and each of the plurality of candidate points and detects the candidate point with the largest correlation as a correspondence point of the edge. The object detection device detects an object at a position of the edge when the correlation index value of the detected correspondence point is equal to or smaller than a predetermined threshold.
Inventors:
Hideki Shirai
Katsuyuki Imanishi
Hirohiko Yanagawa
Katsuyuki Imanishi
Hirohiko Yanagawa
Application Number:
JP2017098017A
Publication Date:
November 11, 2020
Filing Date:
May 17, 2017
Export Citation:
Assignee:
株式会社デンソーアイティーラボラトリ
株式会社ＳＯＫＥＮ
株式会社デンソー
株式会社ＳＯＫＥＮ
株式会社デンソー
International Classes:
G06T7/00; G01B11/00; G08G1/16; G06V10/44
Domestic Patent References:
| JP10222679A | ||||
| JP2008099136A | ||||
| JP2007087236A | ||||
| JP2007267343A |
Attorney, Agent or Firm:
Mamoru Suzuki
Shinji Kato
Tomoaki Yasui
Shinji Kato
Tomoaki Yasui