Object detection apparatus, the object detecting method and program

Abstract

Stereo images captured in object, an object detecting apparatus capable of precisely determine the object or the road surface, to provide an object detecting method and a program. Object detecting device (100), based on the stereo image obtained, the disparity map generating unit to generate a disparity map (120), based on the generated disparity map with the road surface estimating section for estimating a road surface (130), based on the generated disparity map and the road surface, the object candidate position extraction unit for extracting a position of an object candidate is present above the road surface and (140) in real space, the generated three-dimensional, including the area around the object candidate from disparity maps were comprising object determination region extraction unit for extracting a determination region and (150). Further, the object detecting device (100), based on the object determination area, shape feature extraction unit for extracting a shape feature of the object candidates (160), extracted shape feature, and the object determination parameter storage memory (180) in advance provided on the basis of the object determination parameters stored, the object determination unit object candidate determines whether the object or the road surface and the (170) on.