Object detection device
An identification apparatus suited to identify the aforementioned instances is constructed and the object which is the subject of detection is detected from distance images on the basis of the feature quantity.
Abstract
Provided is an arrangement whereby object detection accuracy is improved in an object detection device which detects objects from images inputted. Distance information representing the distance to a photographic subject is obtained; distance images are obtained wherein information in individual pixels consists of distance information; the distance information in pixels included in specified regions in distance images is classified according to specified dimensions, thereby preparing distance histograms; the degree of similarity of distance histograms in two specified regions located in different places in distance images is calculated as a feature quantity; high-certainty distance images for learning are classed as positive instances; low-certainty distance images for learning are classed as negative instances; an identification apparatus suited to identify the aforementioned instances is constructed; furthermore, by using the identification apparatus, the object which is the subject of detection is detected from distance images on the basis of the feature quantity.