OBJECT DETECTOR

• Main Authors: OSATO TAKUMA, MATONO HARUKI, OTSUKA YASUSHI
• Format: Patent
• Language: English; Japanese
• Published: 23.01.2020
• Subjects: CALCULATING; COMPUTING; COUNTING; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SIGNALLING; SURVEYING; TESTING; TRAFFIC CONTROL SYSTEMS

To provide the detection of an object which can maintain the accuracy of calculating a parallax and can suppress degradation of the performance and increase of the processing cost even when a displacement is generated in the vertical direction of an image.SOLUTION: The object detector includes: an imaging unit for obtaining a plurality of images; a parallax image generation unit for generating a parallax image from the images acquired by the imaging unit; a reliability level calculation unit for calculating the reliability level of each parallax of the parallax image, using the direction of an edge in a matching window; a reliability level calculation execution determination unit for determining whether the calculation of the reliability level is to be executed; and an object detection unit for detecting an object by using the parallax image and the reliability level when the reliability level calculation execution determination unit determines that the reliability level is to be calculated.SELECTED DRAWING: Figure 1 【課題】画像垂直方向にずれが発生した場合においても視差の算出精度を確保しつつ、かつ性能劣化や処理コストの増大を抑制する物体検知を提供する。【解決手段】複数の画像を得る撮像部と、撮像部から取得した画像から視差画像を生成する視差画像生成部と、視差画像の各視差の信頼度をマッチングウィンドウ内のエッジ向きを用いて算出する信頼度算出部と、信頼度算出を実施するか否かの判定を行う信頼度算出実施判定部と、信頼度算出実施判定部で信頼度を算出すると判定した場合に視差画像と信頼度を用いて物体を検知する物体検知部と、を備える。【選択図】図１