| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an object detection device capable of detecting an object with high accuracy without using a sensor for measuring a distance. <P>SOLUTION: This object detection device comprises a candidate point detecting section 11 for detecting a candidate point of a contact between a ground and an interface of an object in accordance with a pixel included in an image captured by an imaging apparatus 3, a tracking section 12 for respectively calculating actual positions of candidate points on the image at first and second clock times by tracking positions of the candidate points, and a difference calculating section 14 for calculating a difference between an estimated position at the second clock time obtained by estimation from the position of the candidate point at the first clock time and the position of the candidate point at the second clock time. The object detection device further comprises a state determining section 15 that determines a state of the candidate point at the second clock time on the basis of the difference and changes a search threshold stored in a search threshold storage section 21 or a state stored in a candidate point state storage section 25 in accordance with the determined state. <P>COPYRIGHT: (C)2010,JPO&INPIT |
