Object detection apparatus, the object detecting method, object detecting program, a distance sensor
A object detecting device for detecting at least one object present in the observation target space is an image representing the shape of the detection target object that calculates the three-dimensional position of the object from a distance of coordinates and object candidate collation image.
Abstract
A object detecting device for detecting at least one object present in the observation target space, and the object model recording unit 3 calculates and records the object model is an image representing the shape of the detection target object, the observation target space at a time whole irradiated with millimeter waves covering of a millimeter-wave distance sensor 1 to calculate the distance of the object candidates, stereo image sensor 2 to calculate the different feature image and a distance image of the viewpoint control unit for selecting the object candidate 7, a model conversion unit 4 that calculates a verification model from the object model, and the collation image extraction unit 5 for extracting a collation image from the feature image and the distance image, and calculates the similarity of the verification model and the collation image, the maximum similarity If There becomes within a predetermined range, and calculates the three-dimensional position of the object from a distance of coordinates and object candidate collation image, and a similarity matching unit 6 that outputs a three-dimensional position of the object to the outside I .