| 摘要 |
PROBLEM TO BE SOLVED: To provide an object detection device which is capable of executing object detection processing of detecting individual objects in distinction from each other with high accuracy, in a short processing time.SOLUTION: An object detection device 200 generates parallax image data based on a reference image and a comparison image obtained by imaging with two imaging units and detects objects such as vehicles existing within an imaging area on the basis of the parallax image data. The object detection device 200 includes: a map generation unit 204 which generates U map information (longitudinal parallax histogram information) showing a frequency distribution of parallax values in each of a plurality of column areas obtained by dividing a captured image in a lateral direction, on the basis of the parallax image data; and an object candidate area detection unit 205 which extracts a group of pixels which correspond to parallax values within a prescribed parallax value proximity range out of parallax values having frequencies exceeding a prescribed frequency threshold and are at intervals in the lateral direction of the image within a prescribed range, as an object candidate area reflecting one object, on the basis of the U map information. |
