| 摘要 |
To provide a three-dimensional object detection device which can enhance the accuracy in detecting a three-dimensional object regardless of the brightness in the detection environment. The device comprises an image capture means 10 that captures an image of a predetermined area; an image conversion means 31 that converts the image obtained by the image capture means through a viewpoint conversion into birds-eye view image, a first three-dimensional object detection means 33 that positional aligns, on bird's-eye view, positions of bird's-eye view images at different times obtained by the image conversion means, counts the number of pixels that exhibit a predetermined difference on a differential image of the aligned bird's-eye view images to generate a frequency distribution thereby creating differential waveform information, and detects a three-dimensional object on the basis of the differential waveform information. The device further comprises a second three-dimensional object detection means 37 that detects edge information from the bird's-eye view image obtained by the image conversion means and detects a three-dimensional object on the basis of the edge information. |
