PROBLEM TO BE SOLVED: To provide an object detection device capable of further improving safety by detecting an object that travels at a speed substantially equal to that of a vehicle, an object detection method and an object detection program.SOLUTION: An object detection device 1 comprises: moving position search means 22A for calculating an optical flow regarding a reference point of a reference image; ideal position calculation means 22B for calculating an ideal vector in which the reference point of the reference image moves towards a disappearance point; angle difference calculation means 22C for calculating an angle difference Δθ between an angle of the ideal vector and an angle of the optical flow; moving speed calculation means 22D for calculating a moving speed (k) from the reference point to an actual moving point; frequency distribution means 22E for calculating frequency distribution regarding the angle difference Δθ and the moving speed (k); and detection means 22F for detecting an object that travels in parallel with the vehicle or approaches the vehicle so as to overtake the vehicle, on the basis of the frequency distribution.SELECTED DRAWING: Figure 1

    【課題】自車両と同程度の速度で走行する対象物を検出可能とし、安全性をより向上させることができる対象物検出装置、対象物検出方法、及び、対象物検出プログラムを提供する。【解決手段】対象物検出装置1は、基準画像の基準点についてオプティカルフローを算出する移動位置探査手段22Aと、基準画像の基準点が消失点へ向かう理想的な理想ベクトルを算出する理想位置算出手段22Bと、理想ベクトルの角度とオプティカルフローの角度との角度差Δθを算出する角度差算出手段22Cと、基準点から実移動点への移動速度kを算出する移動速度算出手段22Dと、角度差Δθと移動速度kとについて度数分布を求める度数分布手段22Eと、度数分布に基づき自車両に対して並走するか又は追い越すように近づく対象物を検出する検出手段22Fとを備える。【選択図】図1


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    Title :

    OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD, AND, OBJECT DETECTION PROGRAM


    Additional title:

    対象物検出装置、対象物検出方法、及び、対象物検出プログラム


    Contributors:

    Publication date :

    2017-05-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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