| 摘要 |
<p>Provided is a three-dimensional object detection device comprising: an imaging means (10) that captures an image of the area behind a vehicle; an image conversion means (31) that converts the viewpoint of a captured image to that of a bird's eye view image; three-dimensional object detection means (32, 33) that align the positions of bird's eye view images taken at different times as a bird's eye view image, generate difference waveform information by counting and carrying out frequency distribution of quantities of pixels that indicate a predetermined difference in the aligned bird's eye view image, detect three-dimensional objects existing within a predetermined detection region on the basis of the difference waveform information, and detect the relative position of a three-dimensional object with regards to the vehicle on the basis of the difference waveform information; and control means (33, 34, 35) that, when it has been determined on the basis of temporal change in the relative position of the three-dimensional object that the vehicle has passed a three-dimensional object, set a region to the rear of the travel direction within the detection region as a mask region, and cause the three-dimensional object detection means (32, 33) to carry out detection of three-dimensional objects within the detection region in a detection target region from which the mask region has been excluded.</p> |
