| 摘要 |
[Problem] In object detection on a three-dimensional space using a back projection of an object area extracted from a plurality of camera images, influence by a precision decline (such as lack of an object area) of object area extraction from a camera image is reduced, and it enables to detect a robust object. [Solution method] An object detection apparatus includes an overlapping area acquisition unit that acquires the value of the overlapping area which indicates that a possibility of the object on the three-dimensional space is high using the data to which has been performed a back projection of an object area on a three-dimensional space, an overlapping quantity acquisition unit which acquires the integral quantity of the value of the overlapping area in the shape model which is a three-dimensional target, an overlapping distribution acquisition unit which acquires the distribution degree of the value of the overlapping area in the shape model of the detection target and an object determination unit which determines whether the internal of the shape model of a detection target is an object or non-object using the integral quantity and the distribution degree. |
