| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a structure shape estimation apparatus capable of accurately estimating the shapes of structures and provide an obstacle detection apparatus and a structure shape estimation method. <P>SOLUTION: The structure shape estimation apparatus for estimating the shapes of structures in the traveling direction of a self-vehicle is provided with a forward millimeter wave radar 3 for detecting the locations of objects present in the traveling direction of the self-vehicle; an image detection device 4 having a detection method different from that of the forward millimeter wave radar 3 which detects the locations of objects present in the traveling direction of the self-vehicle; a near-region setting part 21 for setting an approximate region on the basis of the locations of objects detected by the forward millimeter wave radar 3; and a structure shape estimation part 22 for estimating the shapes of structures on the basis of the locations of the objects detected by the forward millimeter wave radar 3 and the locations of the objects detected by the image detection device 4 within the set approximate region. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
