OBJECT DETECTING DEVICE, OBJECT DETECTING METHOD AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To extract detection targets without hardly causing missing parts thereof by evaluating candidates of the detection targets obtained from distance information, in response to reliability of measurement results.

SOLUTION: A measuring means 1 generates a background distance image having only a background of a notable space and a target distance image including the detection targets. A difference means 3 generates the difference image between the background distance image and the target distance image. A reliability calculating means 4 obtains the reliability of the measurement results of each pixel of the background and the target distance images. An object extracting means 5 classifies each pixel of the difference image by combining the reliability of the measurement results of each pixel of the background and the target distance images and evaluates the pixels in accordance with the classification result to extract presence positions of candidates of the detection targets. An object determining means 6 groups the candidates of the detection targets for each detection target from the candidates of the detection targets.

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