| 摘要 |
PROBLEM TO BE SOLVED: To provide an object detection device that properly groups distance data detected by a distance detection means to properly detect an object. SOLUTION: The object detection device 1 includes: an object detection means 11 which groups distance data dnp obtained for each section dn of a detection area of the distance detection means 6 to detect an object; an integration processing means 10 which integrates a plurality of pixels p adjacent to each other on a captured image T based on each image data; an assignment means 12 which divides the image T in the same way as the distance detection means 6, and assigns one or more representative image data Dn to each section dn belonging to the range of the object in the image T based on image data of a pixel area g present within the range; a threshold varying means 13 which varies thresholdsΔXth andΔZth for grouping the distance data dpn based on the representative image data Dn for each section dn; and a re-detection means 14 which groups the distance data dpn again based on the varied thresholds to detect the object. COPYRIGHT: (C)2011,JPO&INPIT
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