VEHICLE DETECTION APPARATUS

摘要

A vehicle detection apparatus (100): performs edge enhancement of a captured image in the vertical direction of a vehicle; measures disparity data between captured images for which edge enhancement was performed; finds the dispersion of pixels in the captured image and selectively rejects the disparity data based on the results; measures distance data based on the disparity data; creates a distance image having distance for each pixel; splits the distance image in the vehicle movement direction into a plurality of regions to form a plurality of reference intervals finds the difference between the background distance data and the distance data using each of the plurality of reference intervals finds the change amount of the difference for each reference segment for each time and compares the change amount of the difference for each reference interval with a threshold value thereby determining a status corresponding to the presence or absence of an object for each time; and retains the status determination for each time determines the transition of the vehicle and detects the entry and exit of the vehicle.