OBJECT DETECTION DEVICE AND OBJECT DETECTION METHOD
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Abstract
Disclosed is an object detection device capable of improving object detection accuracy by preventing erroneous combination detection. In this device, a detection object region correction unit (103) corrects a detection object region set by a detection object region set unit (102) on the basis of moving speed map information associated with a coordinate group in a reference image plane and the detected moving speed on each coordinate, which is detected by a radar. Thus, the detection object region can be amended by the use of the moving speed map information even when the detection object region is obtained as a result of erroneous combination. As a result, the object detection accuracy can be improved.
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Citations
17 Claims
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1-9. -9. (canceled)
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10. An object detection apparatus comprising:
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a candidate point extraction section that extracts candidate points from camera distance map information in which coordinates in an image plane are mapped to information regarding object presence obtained based on a stereo image, or from combined map information combining the camera distance map information and radar distance map information in which the coordinates in the image plane are mapped to information regarding object presence obtained based on information detected by a radar, the candidate points being coordinates at which corresponding information regarding object presence is equal to or greater than a predetermined value; a setting section that arranges the extracted candidate points into groups based on values of the corresponding information regarding object presence, and that sets up, as a first detected object region, a region in the image plane including all candidate points of each group; and a correction section which; divides, with respect to travel speed map information in which the coordinates in the image plane are mapped to detected travel speeds detected by the radar, a first corresponding region, which corresponds to the first detected object region, into a plurality of partial regions in the direction of a first coordinate axis of coordinate axes of the image plane; computes a first correlation value with respect to the detected travel speeds between a representative partial region among the plurality of partial regions and a partial region other than the representative partial region; and divides the first detected object region into a plurality of second detected object regions based on the first correlation value. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. An object detection method wherein:
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a candidate point extraction section extracts candidate points from camera distance map information in which coordinates in an image plane are mapped to information regarding object presence obtained based on a stereo image, or from combined map information combining the camera distance map information and radar distance map information in which the coordinates in the image plane are mapped to information regarding object presence obtained based on information detected by a radar, the candidate points being coordinates at which corresponding information regarding object presence is equal to or greater than a predetermined value; a setting section arranges the extracted candidate points into groups based on values of the corresponding information regarding object presence, and sets up, as a first detected object region, a region in the image plane including all candidate points of each group; and a correction section; divides, with respect to travel speed map information in which the coordinates in the image plane are mapped to detected travel speeds detected by the radar, a first corresponding region, which corresponds to the first detected object region, into a plurality of partial regions in the direction of a first coordinate axis of coordinate axes of the image plane; computes a first correlation value with respect to the detected travel speeds between a representative partial region among the plurality of partial regions and a partial region other than the representative partial region; and divides the first detected object region into a plurality of second detected object regions based on the first correlation value.
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Specification