| 摘要 |
PROBLEM TO BE SOLVED: To provide an object detection device for improving position detecting accuracy of an object more than before by obtaining accurate correspondence between right and left images even when there exists occlusion.SOLUTION: An object detection device including a stereo camera for acquiring right and left images by two laterally arranged imaging means is configured to acquire right and left images by imaging an object by the stereo camera (step S11), to acquire feature points of the object from the right and left images (step S16), and to detect a position of the object on the basis of the feature points (step S17). The object detection device is configured to extract a lateral edge and non-lateral edge from the right and left images (step S12), and to acquire the feature points from the lateral edge and the non-lateral edge, while putting priority on acquisition of the feature points from the lateral edge over acquisition of the feature points from the non-lateral edge (step S14, step S15). |
