Object detection apparatus
First Claim
1. An object detection apparatus mounted in a vehicle, comprising:
- a sameness determination unit configured to determine, using a processor, whether or not a first object and a second object are a same object, the first object being an object detected by an electromagnetic wave sensor configured to transmit and receive electromagnetic waves to detect a position of the object, the second object being an object detected by an image sensor configured to image process a captured image to detect a position of the object;
a position determination unit configured to determine, using the processor, a position of the same object that is an object for which the first object and the second object are determined to be the same, a Y-coordinate of the same object or a distance to the same object in an XY-plane being determined by employing a result of the detection of the first object, an X-coordinate of the same object or an azimuth of the same object with respect to a reference direction in the XY-plane being determined by employing a result of the detection of the second object, the XY-plane being defined such that an X-axis direction of the XY-plane is a vehicle widthwise direction and a Y-axis direction of the XY-plane is a vehicle lengthwise direction, the position determination unit being further configured to determine whether to employ the X-coordinate or the azimuth of the same object, according to a predefined condition, andthe position determination unit is configured to determine whether to employ the X-coordinate or the azimuth of the same object, depending on a distance to the first object.
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Accused Products
Abstract
In an object detection apparatus, a sameness determination unit determines whether or not a first object and a second object are a same object, where the first object is an object detected by an electromagnetic wave sensor and the second object is an object detected by an image sensor. A position determination unit determines a position of the same object that is an object for which the first object and the second object are determined to be the same, where a Y-coordinate of or a distance to the same object in an XY-plane is determined employing a result of the detection of the first object and an X-coordinate or an azimuth of the same object with respect to a reference direction in the XY-plane is determined employing a result of the detection of the second object.
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Citations
6 Claims
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1. An object detection apparatus mounted in a vehicle, comprising:
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a sameness determination unit configured to determine, using a processor, whether or not a first object and a second object are a same object, the first object being an object detected by an electromagnetic wave sensor configured to transmit and receive electromagnetic waves to detect a position of the object, the second object being an object detected by an image sensor configured to image process a captured image to detect a position of the object; a position determination unit configured to determine, using the processor, a position of the same object that is an object for which the first object and the second object are determined to be the same, a Y-coordinate of the same object or a distance to the same object in an XY-plane being determined by employing a result of the detection of the first object, an X-coordinate of the same object or an azimuth of the same object with respect to a reference direction in the XY-plane being determined by employing a result of the detection of the second object, the XY-plane being defined such that an X-axis direction of the XY-plane is a vehicle widthwise direction and a Y-axis direction of the XY-plane is a vehicle lengthwise direction, the position determination unit being further configured to determine whether to employ the X-coordinate or the azimuth of the same object, according to a predefined condition, and the position determination unit is configured to determine whether to employ the X-coordinate or the azimuth of the same object, depending on a distance to the first object. - View Dependent Claims (2, 3, 4)
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5. A method for performing object detection utilizing an electromagnetic wave sensor and an image sensor, which are both mounted on a vehicle, the electromagnetic wave sensor configured to transmit and receive electromagnetic waves to detect object position, the image sensor configured to image process a captured image to also detect object position, the method comprising:
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determining whether or not a first object and a second object are a same object, the first object being an object detected by the electromagnetic wave sensor, the second object being an object detected by the image sensor; determining a position of the same object that is an object for which the first object and the second object are determined to be the same, wherein a Y-coordinate of the same object or a distance to the same object in an XY-plane being determined by employing a result of the detection of the first object, and an X-coordinate of the same object or an azimuth of the same object with respect to a reference direction in the XY-plane being determined by employing a result of the detection of the second object, wherein the XY-plane being defined such that an X-axis direction of the XY-plane is a vehicle widthwise direction and a Y-axis direction of the XY-plane is a vehicle lengthwise direction; determining whether to employ the X-coordinate or the azimuth of the same object, according to a predefined condition; and determining whether to employ the X-coordinate or the azimuth of the same object, depending on a distance to the first object.
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6. A system for performing object detection utilizing an electromagnetic wave sensor and an image sensor, which are both mounted on a vehicle, the electromagnetic wave sensor configured to transmit and receive electromagnetic waves to detect object position, the image sensor configured to image process a captured image to also detect object position, the system comprising:
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a central processor; a non-transitory computer-readable storage medium; and a set of computer-executable instructions stored on the computer-readable storage medium that cause the central processor to implement; determining whether or not a first object and a second object are a same object, the first object being an object detected by the electromagnetic wave sensor, the second object being an object detected by the image sensor; determining a position of the same object that is an object for which the first object and the second object are determined to be the same, wherein a Y-coordinate of the same object or a distance to the same object in an XY-plane being determined by employing a result of the detection of the first object, and an X-coordinate of the same object or an azimuth of the same object with respect to a reference direction in the XY-plane being determined by employing a result of the detection of the second object, wherein the XY-plane being defined such that an X-axis direction of the XY-plane is a vehicle widthwise direction and a Y-axis direction of the XY-plane is a vehicle lengthwise direction; determining whether to employ the X-coordinate or the azimuth of the same object, according to a predefined condition; and determining whether to employ the X-coordinate or the azimuth of the same object, depending on a distance to the first object.
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Specification