To provide an obstacle on-road detection device, a method and a program which accurately detect an obstacle on a road without requiring learning of the obstacle.SOLUTION: An obstacle detection device includes: a local region division unit which divides an input image into a plurality of local regions; and a likelihood calculation unit which calculates a probability that an obstacle on a road exists in an object local region, on the basis of the probability that the object local region is not a previously determined normal object and visual saliency defined by relation between a peripheral local region and the object local region. Here, the visual saliency is calculated larger as the probability that the peripheral local region is a road is higher, and larger as difference of visual features of the object local region and the peripheral local region is larger.SELECTED DRAWING: Figure 1
【課題】障害物の学習を必要とせずに路上障害物を精度良く検出する路上障害物検出装置、方法、及びプログラムを提供する。【解決手段】障害物検出装置は,入力画像を複数の局所領域に分割する局所領域分割部と,対象局所領域に路上障害物が存在する確率を,当該対象局所領域があらかじめ定められた正常物体ではない確率と,周辺局所領域と対象局所領域の関係によって定義される視覚的顕著度と,に基づいて算出する尤度算出部と,を含む。ここで、視覚的顕著度は,周辺局所領域が道路である確率が高いほど大きく,かつ,対象局所領域と周辺局所領域の視覚的特徴の相違が大きいほど大きく算出される。【選択図】図1
OBSTACLE ON-ROAD DETECTION DEVICE, METHOD AND PROGRAM
路上障害物検出装置,方法,およびプログラム
2018-12-06
Patent
Electronic Resource
Japanese
ROAD OBSTACLE DETECTION APPARATUS, ROAD OBSTACLE DETECTION METHOD, AND PROGRAM
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