| 摘要 |
PROBLEM TO BE SOLVED: To evaluate reliability of results obtained from detecting an object by image recognition to improve performance of detection using image recognition.SOLUTION: In an object detection device, a candidate target detection section 17 applies image recognition processing on an image taken by an imaging section 10 to detect candidate targets in the image. An image distance estimation section 18 acquires image position information on a relative position to a subject vehicle in a real space of an image portion, which corresponds to the candidate targets detected by the candidate target detection section 17. A reliability evaluation section 19 evaluates reliability of the candidate targets detected using image recognition on the basis of a comparison between a position of the candidate targets showed by the image position information in the real space and a position of an object to be detected which is determined based on a present position of the subject vehicle and given map data. An object discrimination section 20 determines whether the candidate targets are actually the object or not based on results from reliability evaluation performed by the reliability evaluation section 19.SELECTED DRAWING: Figure 1 |
