Kyocera Corporation

Fuko Takano

Kazumasa Akimoto

Junya Kishimoto

Kazuyuki Ota

Kenji Kono

Eijiro Shibusawa

A processor of an object detection device is configured to search for a pair of coordinates associated with a target disparity in a second direction of a disparity map, update a first pair of coordinates to the found pair of coordinates, and calculate a height of an object corresponding to the target disparity on the basis of the first pair of coordinates. The processor is configured to, when a pair of candidate coordinates associated with a disparity approximately equal to the target disparity is present beyond a predetermined interval from the first pair of coordinates, calculate a first candidate height on the basis of the first pair of coordinates and calculate a second candidate height on the basis of the pair of candidate coordinates.

Object detection device, object detection system, mobile object, and object detection method

An object detection device is configured to execute a first process, a second process, and an object detection process (third and fourth processes). The first process estimates a shape of a road surface in a real space on the basis of a first disparity map. The first disparity map is generated on the basis of an output of a stereo camera that captures an image including the road surface, and is a map in which a disparity obtained from the output of the stereo camera is associated with two-dimensional coordinates formed by a first direction corresponding to a horizontal direction of the image captured by the stereo camera and a second direction intersecting the first direction. The second process removes from the first disparity map a disparity for which a height from the road surface in the real space corresponds to a predetermined range on the basis of the estimated shape of the road surface to generate a second disparity map. The object detection process (third and fourth processes) detects an object on the basis of the second disparity map.

A processor of an object detection device is configured to search for a pair of coordinates associated with a disparity approximately equal to a target disparity satisfying a predetermined condition in a second direction of a disparity map, update a first pair of coordinates to the found pair of coordinates, and calculate a height of an object corresponding to the target disparity on the basis of the first pair of coordinates. In the disparity map, a disparity acquired from a captured image is associated with a pair of two-dimensional coordinates formed by a first direction and the second direction intersecting the first direction. When a second pair of coordinates associated with a disparity approximately equal to the target disparity is present within a predetermined interval from the first pair of coordinates, the processor is configured to update the first pair of coordinates to the second pair of coordinates.

An object detection device includes a processor. The processor is configured to apply a Hough transform to coordinate points on a UD map to detect a straight line having a predetermined length, and detect a target disparity corresponding to the detected straight line having the predetermined length as a disparity corresponding to an object parallel to a direction of travel of a stereo camera. In the UD map, a target disparity satisfying a predetermined condition among disparities acquired from a captured image is associated with coordinate points, each of the coordinate points having two-dimensional coordinates formed by a first direction and a direction corresponding to a magnitude of a disparity. The processor is configured to convert, in the Hough transform, a straight line passing through coordinate points associated with the target disparity and a predetermined range based on a vanishing point into a Hough space.

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Yokohama, Japan

Fuko Takano