Three-dimensional object detection apparatus, stereo camera apparatus, vehicle, and three-dimensional object detection method

Abstract

A three-dimensional object detection apparatus includes an input interface and a controller. The input interface accepts input of first and second images having mutual parallax in a first direction. The controller generates a parallax image that uses a pixel value to represent a difference in the first direction between positions of a subject in the first image and in the second image and divides the parallax image into a plurality of partial regions extending along a second direction. For each partial region, the controller segments a distance in the direction towards the subject into a plurality of distance intervals; and calculates, on the basis of a pixel count of pixels belonging to the distance interval, an evaluation value of a three-dimensional object belonging to the distance interval. The controller uses a different threshold for each distance interval to determine whether or not a three-dimensional object is present.