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Object detection apparatus, object detection method, object detection program and device control system for moveable apparatus

  • US 9,330,320 B2
  • Filed: 04/09/2015
  • Issued: 05/03/2016
  • Est. Priority Date: 04/10/2014
  • Status: Active Grant
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 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 map generator to generate a map indicating a frequency profile of disparity values correlating a horizontal direction distance of the object with respect to a movement direction of the moveable apparatus, and a distance of the movable apparatus to the object in the movement direction of the moveable apparatus based on the disparity image;

    an isolated area detection unit to detect an isolated area based on the frequency profile;

    an isolated area divider to divide the isolated area into two or more isolated areas based on the frequency profile in the isolated area; and

    an object detector to detect an object based on the divided isolated area.

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