| 摘要 |
PROBLEM TO BE SOLVED: To provide a three-dimensional detection apparatus configured to reduce computational load, while maintaining accuracy of detecting a three-dimensional object, and a three-dimensional object detection method.SOLUTION: A second classifying unit classifies groups of parallax point into one of a three-dimensional category, a road-surface category, and an unknown category, on the basis of a vertical position distribution of the parallax points belonging to the group, in a parallax image. A road-surface estimation unit estimates a road surface, on the basis of the parallax point of the group classified into the road-surface category. A third classifying unit classifies groups corresponding to a three-dimensional object, from among the groups classified into the unknown category, on the basis of the estimated road surface. Three-dimensional object detection based on the parallax points and the estimated road surface is executed only for the group of the parallax points classified into the unknown category, thereby reducing computational load, while maintaining accuracy of detecting a three-dimensional object.SELECTED DRAWING: Figure 2 |
