| 摘要 |
An object recognition device has a camera (113) and a radar (114), detects an estimated plane region estimated to be a plane on the basis of an image from the camera (113) (S202), and calculates a plane equation for the estimated plane region (S207). The object recognition device interpolates and estimates distance data within the estimated plane region on the basis of the plane equation and measured distance data from the radar (S210) and uses the resulting distance data to determine the distance to an object. As a result, it is possible to obtain dense distance data throughout an estimated plane region and detect the distance to small objects and distant objects. |
