| 摘要 |
PROBLEM TO BE SOLVED: To provide "a three-dimensional object detection device and its method" for preventing a minor collision and an accident causing injury or death without falsely recognizing a shadow to be the three-dimensional object by accurately detecting the three-dimensional object even when a shadow exists in an image photographed by a monocular camera. SOLUTION: By the monocular camera, an overhead view image, in which line of sight conversion is executed for each of the photographed images in any given timing t1 and timing t2, elapsed from the timing t1 in predetermined period of time, is captured. A first difference image, between the shifted image in which the overhead view image on one side is shifted based on the amount of movement of an own vehicle and the overhead view image not shifted thereof, is calculated. The own vehicle shade images in the timing t1 and t2 are calculated. A second difference image between the shifted shadow image in which own vehicle shade image on one side is shifted based on the amount of the movement of the own vehicle and the shifted shadow image not shifted thereof, is calculated. A third difference image, which is the difference between the first difference image and the second difference image is calculated. When the remaining difference exists in the third difference image, the three-dimensional object is judged to exist. COPYRIGHT: (C)2010,JPO&INPIT
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