Title:
OBJECT DETECTING DEVICE, OBJECT DETECTING SYSTEM, MOVING BODY, AND METHOD FOR DETECTING OBJECT
Document Type and Number:
WIPO Patent Application WO/2021/054339
Kind Code:
A1
Abstract:
An object detecting device according to the present invention comprises a processor. The processor is configured to apply a Hough transform on coordinate points on a UD map to detect a straight line of a prescribed length, and to detect, as a parallax corresponding to an object parallel to the advancement direction of a stereo camera, a target parallax corresponding to the detected straight line of a prescribed length. The UD map is such that the target parallax, which satisfies prescribed conditions, from among parallaxes acquired from a captured image is mapped onto coordinate points of two-dimensional coordinates comprising a first direction and a direction corresponding to the magnitude of the parallax. The first direction corresponds to a horizontal direction of the captured image generated as a result of the stereo camera imaging a road surface. For the Hough transform, the processor is configured to convert, into a Hough space, a straight line passing through each coordinate point onto which the target parallax has been mapped and a prescribed range based on a vanishing point.
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Inventors:
TAKANO FUKO (JP)
AKIMOTO KAZUMASA (JP)
KISHIMOTO JUNYA (JP)
OTA KAZUYUKI (JP)
AKIMOTO KAZUMASA (JP)
KISHIMOTO JUNYA (JP)
OTA KAZUYUKI (JP)
Application Number:
PCT/JP2020/034983
Publication Date:
March 25, 2021
Filing Date:
September 15, 2020
Export Citation:
Assignee:
KYOCERA CORP (JP)
International Classes:
G08G1/16; G06T7/00
Foreign References:
| JP2018092605A | 2018-06-14 | |||
| JP2012048289A | 2012-03-08 | |||
| JP2013161241A | 2013-08-19 | |||
| JPH05265547A | 1993-10-15 |
Attorney, Agent or Firm:
SUGIMURA Kenji (JP)
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