Title:
物体検出方法及び物体検出装置
Document Type and Number:
Japanese Patent JP7117169
Kind Code:
B2
Abstract:
To provide an object detection method and an object detection device capable of detecting a moving object distant from a vehicle.SOLUTION: An object detection device 100 includes stereo cameras 10 and 11 mounted on a vehicle to acquire an image around the vehicle, a controller 20, and a storage unit for storing a first threshold value and a second threshold value. The controller 20 extracts a plurality of feature points constituting a candidate for a moving object from the image, and calculates the variance of motion vectors of the plurality of feature points from a plurality of images acquired at different times. The controller 20 determines whether or not the candidate for the moving object is farther than the first threshold value with respect to the vehicle. The controller 20 determines that the candidate for the moving object is farther than the first threshold value with respect to the vehicle, and determines that the candidate for the moving object is a distant moving object when the variance of the motion vector is equal to or less than the second threshold value.SELECTED DRAWING: Figure 1
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Inventors:
Takeo Miyasaka
Application Number:
JP2018115918A
Publication Date:
August 12, 2022
Filing Date:
June 19, 2018
Export Citation:
Assignee:
Nissan Motor Co., Ltd
International Classes:
G06T7/285; G06T7/00; G08G1/16
Domestic Patent References:
| JP2014135039A | ||||
| JP2011123548A | ||||
| JP2011180835A | ||||
| JP2016142647A |
Foreign References:
| WO2017094140A1 |
Attorney, Agent or Firm:
Hidekazu Miyoshi
Shunichi Takahashi
Masakazu Ito
Toshio Takamatsu
Shunichi Takahashi
Masakazu Ito
Toshio Takamatsu
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