| 摘要 |
PROBLEM TO BE SOLVED: To provide an object detection device capable of reducing the amount of operations, concerning the object detection device for detecting an object by using a stereo image. SOLUTION: This object detection device is equipped with an imaging means for outputting a plurality of imaged images having different viewpoints mutually, and a correlation means for performing correlation between the images having different viewpoints mutually, and is used for detecting the object from a parallax acquired by the correlation. The device is also equipped with a resolution conversion means for converting each imaged image into a low-resolution image, an image dividing means for dividing the image into at least two domains on the far side and on the near side corresponding to the distance from the imaging means on the image, and a determination means for determining whether correlation on a high-resolution image is to be performed or not based on the distance from the imaging means on the image relative to each divided domain. The device has characteristics wherein correlation on the low-resolution image in each domain is performed by the correlation means, and as for a domain wherein correlation on the high-resolution image is determined to be performed by the determination means, correlation is performed after setting a search domain wherein the correlation is to be performed based on the parallax acquired by the correlation on the low-resolution image. COPYRIGHT: (C)2006,JPO&NCIPI |
