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Title:
THREE-DIMENSIONAL OBJECT DETECTION DEVICE
Document Type and Number:
WIPO Patent Application WO/2013/129361
Kind Code:
A1
Abstract:
 The present invention is provided with: a three-dimensional object detection means (32, 33, 34) that generates difference waveform information by counting the number of pixels indicating a difference equal to or greater than a difference threshold value in a difference image in which overhead view images taken at different times are aligned, and detects a three-dimensional object on the basis of the difference waveform information; a reference image area setting means (35) that sets, as a reference image area, an area which is different from a detection area and from which the extraction of contour information of an object is predicted; a contour information detection means (35) that extracts the contour information of the object; a reference sharpness calculation means (35) that calculates the reference sharpness on the basis of the contour information detected in the reference image area; and a detection-target sharpness calculation means (35) that calculates the detection-target sharpness on the basis of the contour information detected in the detection area. The three-dimensional object detection means (32, 33, 34) calculates the final sharpness on the basis of the reference sharpness and the detection-target sharpness, and sets the difference threshold value on the basis of the calculated final sharpness.

Inventors:
HAYAKAWA YASUHISA
FUKATA OSAMU
Application Number:
PCT/JP2013/054865
Publication Date:
September 06, 2013
Filing Date:
February 26, 2013
Export Citation:
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Assignee:
NISSAN MOTOR (JP)
International Classes:
G08G1/16; G06T1/00
Domestic Patent References:
WO2012023412A12012-02-23
WO2009057410A12009-05-07
Foreign References:
JP2012003662A2012-01-05
JP2003189294A2003-07-04
JP2010223685A2010-10-07
JP2001273494A2001-10-05
JP2008219063A2008-09-18
Other References:
See also references of EP 2821980A4
Attorney, Agent or Firm:
TOKOSHIE PATENT FIRM (JP)
It can exceed and is a patent business corporation. (JP)
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Claims: