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OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, OBJECT DETECTION PROGRAM, AND DEVICE CONTROL SYSTEM MOUNTABLE TO MOVEABLE APPARATUS

  • US 20160014406A1
  • Filed: 07/10/2015
  • Published: 01/14/2016
  • Est. Priority Date: 07/14/2014
  • Status: Abandoned Application
First Claim
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1. An object detection apparatus mountable to a moveable apparatus for detecting an object existing outside the moveable apparatus by capturing a plurality of images sequentially along a time line by using a plurality of imaging devices mounted to the moveable apparatus and generating a disparity image from the captured images, the object detection apparatus comprising;

  • a surface detection unit to detect a surface where the moveable apparatus moves based on the disparity image;

    an object detection unit to detect an object existing on the surface based on the surface detected by the surface detection unit;

    an object tracking unit to track the object in the disparity image along the time line based on the object detected by the object detection unit; and

    a surface correction unit to correct the surface detected by the surface detection unit based on the object tracked by the object tracking unit.

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