Object detection device and object detection method
US9424462B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 11, 2013 |
| Grant date | Aug 23, 2016 |
| Priority date | — |
| Expiry date | Oct 11, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30261
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
To provide an object detection device and an object detection method in which incorrect grouping based on a range image can be prevented, processing is implemented including: generating a range image based on a pair of gray-scaled images (S603); grouping adjacent regions having range data representing close distances in the range image (S604); calculating differences between the luminance values of pixels in a vertical line below a ground plane above which objects are imaged and the luminance values of pixels in a vertical line above the ground plane in the gray-scaled images and dividing the group region into laterally separated sub-regions (S605); and determining whether or not there is a section without vertical edge in either of the left and right areas of each of sub-regions made based on the gray-scaled images and merging sub-regions whose areas including a section without vertical edge are next to each other (S607).
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.