| 摘要 |
PROBLEM TO BE SOLVED: To provide a three-dimensional object detection apparatus, a three-dimensional object detection method and a three-dimensional object detection program capable of detecting a three-dimensional object which requires subpixel accuracy while reducing the memory consumption.SOLUTION: A depth estimation section estimates the depth of corresponding positions among plural images taken from different viewpoints. A reference point setting section sets a reference point at the position the depth of which is estimated. The reference point setting section sets another reference point at a position, which is the position the depth of which is estimated, and which is separated away above in a vertical axis direction on the images relative to the reference point. A range setting section sets a voting range which has an expansion in height and depth above the reference point. The voting section performs a voting processing relative to the reference point in the voting range. A three-dimensional object determination section detects a three-dimensional object on a road surface based on the result of the voting processing. |
