| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a pedestrian detection method, device and program for highly precisely detecting a pedestrian included in an image picked up by using a stereocamera with small computational complexity. <P>SOLUTION: This pedestrian detection method includes extracting a vertical edge based on image information output from an image pickup means with compound eyes for picking up a predetermined visual field, calculating three-dimensional information from the vertical edge, detecting a solid object based on the calculated three-dimensional information, calculating the fluctuation due to time of solid object information showing the detected characteristics of the solid object, and deciding whether or not the solid object is a pedestrian based on the calculated fluctuation of the solid object. <P>COPYRIGHT: (C)2007,JPO&INPIT |
