OBJECT DETECTING METHOD AND DEVICE THEREFOR

Title:

OBJECT DETECTING METHOD AND DEVICE THEREFOR

Document Type and Number:

WIPO Patent Application WO/2018/038257

Kind Code:

A1

Abstract:

Provided are: an object detecting method for detecting an object with high precision by means of a stereo camera; and a device therefor. An object detecting device 20 includes: a stereo camera 21; a parallax calculating unit 22 that calculates parallax for each pixel on the basis of left and right images acquired by the stereo camera 21; a distance/3D information calculating unit 23 that calculates, from the parallax, a 3D distance image formed of 3D point group data; an OGM calculating unit 26 that nominates the 3D point group data onto a 2D map and calculates a first occupancy grid map (OGM); and an object detecting unit 28 that detects 3D information about an object by using the OGM. The OGM calculating unit 26 arranges a redundant cell such that the redundant cell overlaps across the vicinity of boundaries among multiple cells, and nominates the 3D point group data also onto the redundant cell, and thereby generates a redundant second occupancy grid map (ROGM).

Inventors:

WATANABE RYUJIN (JP)
SALVUCCI VALERIO (JP)

Application Number:

PCT/JP2017/030562

Publication Date:

March 01, 2018

Filing Date:

August 25, 2017

Export Citation:

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Assignee:

ZMP INC (JP)

International Classes:

G01B11/00; G01C3/06

Foreign References:

JP2014120026A	2014-06-30
JP2015032185A	2015-02-16
JP2004178229A	2004-06-24
JP2016099932A	2016-05-30
JP2016522508A	2016-07-28
US20130060540A1	2013-03-07