| 摘要 |
PROBLEM TO BE SOLVED: To provide an individual detector capable of preventing reliability in detection of an object from being reduced due to changes in the environment in a detection region and of dispensing with the time and labor required for setting a threshold value again by manual operation in accordance with the changes in the environment in the detection region. SOLUTION: This individual detector 1 includes an object detection means 3 for generating a difference distance image P3 being difference between a distance image P1 obtained from a distance image sensor 2 and a background distance image P2 and detecting a region where an absolute value of a distance value in the difference distance image P3 exceeds the threshold values th1, th2 as the object and a threshold value setting means 5 for setting the threshold values th1, th2 used by the object detection means 3. The threshold value setting means 5 has a calculating part 51 for obtaining a plurality of distance images P1 from the distance image sensor 2 at timings being different from each other and calculating the standard deviation indicating degree of unevenness in distance values concerning the same picture element of an object in the background among a plurality of distance images P1 as an index value and a setting part 52 for setting the threshold values th1, th2 to the values obtained by adding predetermined margin to the index value automatically. COPYRIGHT: (C)2009,JPO&INPIT
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