| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and an apparatus for detecting a parallax-directional continuous object by a parallax diagram.SOLUTION: The detection method includes: acquiring a parallax diagram including a continuous object formed by continuing in the parallax direction; acquiring, in order of the size of the parallax, a parallax sectional view corresponding to each parallax or each parallax range that is a parallax diagram sectional view consisting of all parallax points corresponding to a prescribed parallax value or a prescribed parallax value range; extracting features from the parallax sectional view on the basis of characteristics of the detecting object; and identifying the object by a feature train of each parallax sectional view. This method can extract a parallax directional view train, extract the features, and identify the object so as to eliminate dependence on a road surface input result, improve stability and adaptability, effectively use the features of continuity of an object space, and eliminate detection errors and detection omissions in a direct detection due to background noise. |
