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Object detection apparatus, object detection method and object detection program

  • US 8,300,887 B2
  • Filed: 05/10/2007
  • Issued: 10/30/2012
  • Est. Priority Date: 05/10/2007
  • Status: Expired due to Fees
First Claim
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1. An object detection apparatus which detects a movable object in a region around a vehicle from a time series of images including at least a first and second image obtained through a camera mounted on the vehicle, the apparatus comprising:

  • a feature point extraction unit which extracts a first set of feature point contained in a feature region of the first image and a second set of feature point contained in a feature region of the second image;

    a correspondence degree computation unit which;

    creates a combination set of pairs of feature points by pairing each feature point from the first set with each feature point of the second set,computes a degree of correspondence for each pair of the feature points in the combination set, andreduces the combination set to a corresponding pairs set that includes the pairs from the combination set having the highest computed degree of correspondence for each feature point of the first set; and

    a detection unit which detects the movable object on the basis of the degree of correspondence computed by the correspondence degree computation unit.

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