OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, OBJECT DETECTION PROGRAM, AND DEVICE CONTROL SYSTEM MOUNTABLE TO MOVEABLE APPARATUS

摘要

An object detection apparatus mountable to a moveable apparatus for detecting an object existing outside the moveable apparatus by capturing a plurality of images sequentially along a time line by using a plurality of imaging devices mounted to the moveable apparatus and generating a disparity image from the captured images includes a surface detection unit to detect a surface where the moveable apparatus moves thereon based on the disparity image, an object detection unit to detect an object existing on the surface based on the surface detected by the surface detection unit, an object tracking unit to track the object in the disparity image along the time line based on the object detected by the object detection unit, and a surface correction unit to correct the surface detected by the surface detection unit based on the object tracked by the object tracking unit.

主权项

1. An object detection apparatus mountable to a moveable apparatus for detecting an object existing outside the moveable apparatus by capturing a plurality of images sequentially along a time line by using a plurality of imaging devices mounted to the moveable apparatus and generating a disparity image from the captured images, the object detection apparatus comprising;
a surface detection unit to detect a surface where the moveable apparatus moves based on the disparity image; an object detection unit to detect an object existing on the surface based on the surface detected by the surface detection unit; an object tracking unit to track the object in the disparity image along the time line based on the object detected by the object detection unit; and a surface correction unit to correct the surface detected by the surface detection unit based on the object tracked by the object tracking unit.