OBJECT DETECTION METHOD, INFORMATION PROCESSING DEVICE, AND STORAGE MEDIUM

摘要

An object detection method includes extracting an object candidate by grouping a plurality of characteristic points from two images acquired at different times by a camera; calculating, for each of characteristic points included in the object candidate, an observation flow amount indicating an amount of positional shift on the two images and a virtual road surface flow amount indicating an amount of positional shift on the two images while assuming that the characteristic point is located on a road surface; generating, for each of the characteristic points, a flow difference distribution of the object candidate by calculating a difference between the observation flow amount and the virtual road surface flow amount; and determining whether the object candidate is an object existing on and protruding from the road surface by comparing the flow difference distribution with a plurality of flow difference distribution models generated for predicted inclined states of the surface.

主权项

1. An object detection method executed by a processor included in an object detecting device having a camera attached to a moving object, the object detection method comprising:
extracting a plurality of characteristic points from two images acquired at different times by the camera upon a movement of the moving object; extracting an object candidate by grouping the plurality of characteristic points; calculating, for each of characteristic points included in the object candidate, an observation flow amount indicating an amount of positional shift of a characteristic point on the two images; calculating, for each of the characteristic points included in the object candidate, a virtual road surface flow amount indicating an amount of positional shift of the characteristic point on the two images while assuming that the characteristic point is located on a road surface; generating, for each of the characteristic points included in the object candidate, a flow difference distribution of the object candidate by calculating a difference between the observation flow amount and the virtual road surface flow amount; and determining whether the object candidate is an object existing on and protruding from the road surface by comparing the flow difference distribution with a plurality of flow difference distribution models generated for predicted inclined states of the surface and corresponding to at least any of a case where the object candidate is the object existing along the road surface and a case where the object candidate is the object existing on and protruding from the road surface.