To accurately detect a mobile which is reflected in a road mirror, while suppressing computational complexity.SOLUTION: An object detection device comprises: a first detection unit 31 for detecting a kind and a position of an object including a road mirror within an image and the presence/absence of a movable object reflected in the road mirror on the basis of image data obtained by reducing a resolution of the image; and a second detection unit 32 for detecting a kind of the movable object in the road mirror and a position of the movable object in the road mirror on the basis of high-resolution partial image data obtained by extracting a portion of the road mirror from the image in a case where there is the movable object reflected in the road mirror.SELECTED DRAWING: Figure 4
【課題】演算量を抑制しつつ、道路ミラーに映り込んでいる移動体を精度良く検出する。【解決手段】物体検出装置は、画像を低解像度化した画像データに基づいて、画像内の道路ミラーを含む物体の種類及び位置と、道路ミラーに映り込んだ移動可能物体の有無と、を検出する第1検出部31と、道路ミラーに映り込んだ移動可能物体が有る場合に、画像から道路ミラーの部分を抽出した高解像度の部分画像データに基づいて、道路ミラー内の移動可能物体の種類と、道路ミラー内における移動可能物体の位置と、を検出する第2検出部32と、を備える。【選択図】図4
OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD, COMPUTER PROGRAM FOR OBJECT DETECTION, AND VEHICLE CONTROL SYSTEM
物体検出装置、物体検出方法、物体検出用コンピュータプログラム及び車両制御システム
2020-04-02
Patent
Electronic Resource
Japanese
IPC: | G06V / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / 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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