| 摘要 |
<p>Provided is an object detection apparatus that detects objects using radar and a monocular image sensor, and wherein the detecting precision of the lateral position of an object to be detected is further improved. A detected object corresponding to a detected object identified by the radar is extracted from among the images picked up by the monocular image sensor, and the right and left edges of the detected object are also obtained. Furthermore, locus approximation lines, which are straight lines or curved lines that approximate the locus of the right and left edges, are derived for both the edges. Then, of the right and left edges, the one that has more edges existing on the locus approximation line is selected as the true edge of the detected object, and the lateral position of the detected object is derived on the basis of the position of the selected edge.</p> |
