Object detection apparatus and method for detecting an object
It can be determined with high accuracy to provide the stereoscopic images captured object is a road surface object or object detecting means, object detecting method and a program.
Abstract
It can be determined with high accuracy to provide the stereoscopic images captured object is a road surface object or object detecting means, object detecting method and a program. Object detecting means (100) includes: a disparity map generating unit (120), a stereoscopic image based on the acquired generating a disparity map; road surface estimating means (130), the disparity map generated based on the estimated road surface; object candidate position extraction unit (140), based on generating a disparity map and the road surface, the object candidate extraction position exists on a road side in the real space; and extracting the object region determination unit (150), from the disparity map generation, the object candidate extraction is also included in the peripheral area dimensional determination area. Further, the object detecting means (100) further comprises: shape feature extraction unit (160), based on the object determination area extracting shape features of the object candidates; and an object determination unit (170), based on the extracted shape feature and stored in advance is determined in the object parameter memory (180) determines object parameters, determines the candidate object is the object or the road.