OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD, AND PROGRAM

摘要

An object detection device comprises a measurement device, and a processing device. The measurement device maps an object space in a plurality of pixels, and generates a distance image which is associated with distance information relating to the object space for each pixel. The processing device further comprises a reliability evaluation unit, an uncertain pixel exclusion unit, and an information extraction unit. The reliability evaluation unit derives an evaluation value which represents a degree of change of distance between each pixel and peripheral pixels. The uncertain pixel exclusion unit excludes as an uncertain pixel a pixel whereof the degree of change of the distance to the peripheral pixels thereof is great and the evaluation value which the reliability evaluation unit has derived exceeds an allowed range. The information extraction unit extracts required information relating to an object, using pixels which are not excluded by the uncertain pixel exclusion unit.