Search International and National Patent Collections

1. (WO2018038257) OBJECT DETECTING METHOD AND DEVICE THEREFOR

Pub. No.:    WO/2018/038257    International Application No.:    PCT/JP2017/030562
Publication Date: Fri Mar 02 00:59:59 CET 2018 International Filing Date: Sat Aug 26 01:59:59 CEST 2017
IPC: G01B 11/00
G01C 3/06
Applicants: ZMP INC.
株式会社ZMP
Inventors: WATANABE Ryujin
渡邉 龍人
SALVUCCI VALERIO
サルブッチ ヴァレリオ
Title: OBJECT DETECTING METHOD AND DEVICE THEREFOR
Abstract:
Provided are: an object detecting method for detecting an object with high precision by means of a stereo camera; and a device therefor. An object detecting device 20 includes: a stereo camera 21; a parallax calculating unit 22 that calculates parallax for each pixel on the basis of left and right images acquired by the stereo camera 21; a distance/3D information calculating unit 23 that calculates, from the parallax, a 3D distance image formed of 3D point group data; an OGM calculating unit 26 that nominates the 3D point group data onto a 2D map and calculates a first occupancy grid map (OGM); and an object detecting unit 28 that detects 3D information about an object by using the OGM. The OGM calculating unit 26 arranges a redundant cell such that the redundant cell overlaps across the vicinity of boundaries among multiple cells, and nominates the 3D point group data also onto the redundant cell, and thereby generates a redundant second occupancy grid map (ROGM).