| 摘要 |
PROBLEM TO BE SOLVED: To detect an obstacle on a road surface on which a movable body travels even if a depth sensor swings to cause a change in an angle of depression during travel of the movable body.SOLUTION: An obstacle detector 1 includes: a depth sensor 2; a depression angle estimation unit 3 that estimates an angle of depression α of the depth sensor 2 on the basis of a distance image acquired by the depth sensor 2; and a detection unit 4 that detects an obstacle 8 present on a road surface 6 on the basis of the angle of depression α, the height h of the depth sensor 2 and a distance r of the distance image. |
