THREE-DIMENSIONAL OBJECT DETECTION DEVICE

摘要

Provided is a three-dimensional object detection device comprising: an imaging means (10) that captures an image of a predetermined region; an image conversion means (31) that converts the viewpoint of a captured image to that of a bird's eye view image; three-dimensional object detection means (32, 33) that generate difference waveform information from a difference image in which the positions of bird's eye view images taken at different times are aligned, and detect the existence of three-dimensional objects within the detection area on the basis of the difference waveform information; a movement speed calculation means (33) that calculates the movement speed of a three-dimensional object; a three-dimensional object determination means (34) that determines whether a three-dimensional object existing within the predetermined region is another vehicle; a non-detection target determination means (34) that detects the degree of variation in the movement speed of a three-dimensional object by repeatedly calculating the amount of change over time of the movement speed of the three-dimensional object, and determines whether the three-dimensional object is a non-detection target on the basis of the degree of variation; and a control means (34) that suppresses determination of the three-dimensional object as another vehicle by the three-dimensional object determination means (34) on the basis of the determination result from the non-detection target determination means (34).