| 摘要 |
PROBLEM TO BE SOLVED: To provide an object detection device capable of reducing the effect of noise in a distance image without increasing a calculation amount and without impairing contour information, an object detection method, an object detection program, and an automatic travel vehicle.SOLUTION: An LBP is generated for a plurality of pixels of distance image data DV, and a plurality of detection windows DW composed of a plurality of pixels are set to the distance image data DV, and a plurality of kinds of LBPs histograms are created for each detection window DW. In each histogram, a plurality of kinds of LBPs having 0-1 transition of the number not more than a set value are set to a plurality of bins respectively, and one LBP or a plurality of kinds of LBPs having 0-1 transition of the number more than the set value is collected to one bin. The frequency of a plurality of kinds of LBPs in the histogram about each detection window DW is used as the value of a plurality of feature quantities to determine presence or absence of a detection object. |
