| 摘要 |
This three-dimensional object detection device is provided with: an image capturing means (10) for capturing a predetermined area; an image conversion means (31) for converting the viewpoint of the captured image to create a bird's-eye view image; a three-dimensional object detection means (32, 33) for generating difference waveform information from a difference image in which the positions of bird's-eye view images taken at different times have been aligned on a bird's-eye view, and detecting a three-dimensional object based on the difference waveform information; a movement speed calculation means (33) for calculating the movement speed of the three-dimensional object; a three-dimensional object assessment means (34) for assessing whether the three-dimensional object is another vehicle present in the predetermined area; a non-detection-object assessment means (34) for repeatedly calculating the amount of change in time of the movement speed of the three-dimensional object to thereby detect an amount of variability in the movement speed of the three-dimensional object, and assessing whether the three-dimensional object is a non-detection object based on the amount of variability; and a control means (34) for inhibiting, based on the assessment results of the non-detection-object assessment means (34), the three-dimensional object assessment means (34) from assessing that the three-dimensional object is the another vehicle. |
