OBJECT DETECTION APPARATUS AND METHOD

摘要

A reflection-point estimation section (41) constituting an object detection apparatus (10) first calculates a rotational correction angle for each estimated reflection point P_n by using the following equation, using the fact that the ratio of the amount of change in a detected distance d_n to a movement amount I_n of a sonar (50) is nearly equal to a tangent with respect to the direction normal to the surface of an object: Rotational correction angle f_n=atan{(d_n+₁-d_n)/I_n} where n is a natural number. Subsequently, the reflection-point estimation section (41) obtains estimated reflection points P_n' after correction, by rotating each estimated reflection point P_n based on the calculation result.