| 摘要 |
<p>PROBLEM TO BE SOLVED: To improve accuracy of detecting an object and enable identification of the detected object.SOLUTION: A dense parallax generation part 12 generates a dense parallax image provided with distance information in each pixel from a stereo image from a stereo camera part 1. A histogram generation part 15 generates a histogram by voting parallax information onto the dense parallax image in an x direction or y direction. A range determination part 16 determines the search range of a three-dimensional object present in each distance from the histogram. An identification part 17 binarizes the dense parallax image within the determined search range by using parallax information of the determined search range as a threshold. Then, the identification part 17 identifies the three-dimensional object from the shape of the three-dimensional object, the ratio of a white region, the position of the centroid of the white region, or the like.</p> |
