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Three-dimensional object detection device and three-dimensional object detection method

  • US 10,397,544 B2
  • Filed: 07/29/2011
  • Issued: 08/27/2019
  • Est. Priority Date: 08/19/2010
  • Status: Active Grant
First Claim
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1. A three-dimensional object detection device comprising:

  • a camera that captures a single image of a predetermined area;

    a computer programmed toperform viewpoint conversion processing on the image captured by the camera to create a conversion image viewed from above,set a line segment extending in a vertical direction in an actual space as a vertical imaginary line in the conversion image, set two pixels at the same height in the actual space for each of a plurality of positions along the vertical imaginary line, and calculate a luminance difference in the conversion image between the two pixels set for each of the plurality of positions along the vertical imaginary line,detect an edge line on the basis of continuities of the luminance differences among the plurality of positions, and detect a three-dimensional object on the basis of the edge line.

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