To provide a method and an apparatus for detecting a parallax-directional continuous object by a parallax diagram.
The detection method includes: acquiring a parallax diagram including a continuous object formed by continuing in the parallax direction; acquiring, in order of the size of the parallax, a parallax sectional view corresponding to each parallax or each parallax range that is a parallax diagram sectional view consisting of all parallax points corresponding to a prescribed parallax value or a prescribed parallax value range; extracting features from the parallax sectional view on the basis of characteristics of the detecting object; and identifying the object by a feature train of each parallax sectional view. This method can extract a parallax directional view train, extract the features, and identify the object so as to eliminate dependence on a road surface input result, improve stability and adaptability, effectively use the features of continuity of an object space, and eliminate detection errors and detection omissions in a direct detection due to background noise.
LIU YUAN
HU PING
SHI ZHONGCHAO
RUU YAOJIE
| JP2009186301A | 2009-08-20 | |||
| JP2004058737A | 2004-02-26 | |||
| JP2000259997A | 2000-09-22 | |||
| JP2009169618A | 2009-07-30 | |||
| JP2006185166A | 2006-07-13 |
| WO2012017650A1 | 2012-02-09 |
Tadahiko Ito