OBJECT DETECTION APPARATUS AND OBJECT DETECTION METHOD, ALARM DEVICE AND ALARM METHOD, AND DRIVING ASSISTANCE APPARATUS AND DRIVING ASSISTANCE METHOD

摘要

PROBLEM TO BE SOLVED: To provide an object detection apparatus capable of highly accurately detecting a non-periodical change in movement of an object even when performing smoothing in order to suppress the periodical change in the movement of the object.SOLUTION: An object detection apparatus 1 for detecting movement of an object from a plurality of images picked up at mutually different points of time includes: object detection means 10 for detecting the object from the images of respective points of time; shape information acquisition means 11 for acquiring shape information of the detected object; shape change information acquisition means 13 for acquiring shape change information of the object between pieces of shape information respectively acquired at different points of time; smoothing means 15 for smoothing a plurality of pieces of shape change information respectively acquired at different points of time; and determination means 16 for determining the movement of the object on the basis of the smoothed shape change information. The smoothing means 15 respectively weights the plurality of pieces of shape change information and smooths the weighted pieces of shape change information so that the shape change information closer to present time in a smoothing section is more weighted.