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1. (WO2018179281) OBJECT DETECTION DEVICE AND VEHICLE

Pub. No.:    WO/2018/179281    International Application No.:    PCT/JP2017/013402
Publication Date: Fri Oct 05 01:59:59 CEST 2018 International Filing Date: Fri Mar 31 01:59:59 CEST 2017
IPC: G06T 7/00
G01B 11/00
G06T 1/00
Applicants: MITSUBISHI ELECTRIC CORPORATION
三菱電機株式会社
Inventors: WATANABE, Shintaro
渡邉 信太郎
Title: OBJECT DETECTION DEVICE AND VEHICLE
Abstract:
This object detection device for detecting an object on the basis of images captured by a stereo camera on a vehicle is provided with a parallax calculation unit, a first road surface parameter estimation unit, a road surface parameter accumulation unit, a second road surface parameter estimation unit, and an object detection unit. The parallax calculation unit calculates three-dimensional information about image scenes. The first road surface parameter estimation unit calculates first road surface parameters on the basis of the three-dimensional information. The road surface parameter accumulation unit accumulates the first road surface parameters and vehicle information in an associated manner. On the basis of the vehicle information and the first road surface parameters accumulated by the road surface parameter accumulation unit, the second road surface parameter estimation unit calculates a second road surface parameter using first road surface parameters that indicate predetermined conditions relating to the vehicle. The object detection unit detects an object using the second road surface parameter. The aforementioned predetermined conditions include the condition that the angular difference between the road surface being observed by the stereo camera and the surface being in contact with the vehicle is equal to or less than a predetermined angle.