A three-dimensional object detecting device generates a mask image that masks regions outside a three-dimensional object candidate region in a difference image of a first overhead image and a second overhead view image for which the imaging locations O are mutually aligned, identifies a near ground contact line of a three-dimensional object based on a masked difference image. The difference image is masked with the mask image, finds an end point of the three-dimensional object based on the masked difference image, identifies the width of the three-dimensional object based on a distance between a non-masking region boundary and the end point of the three-dimensional object in the mask image, identifies a far ground contact line of the three-dimensional object based on the width of the three-dimensional object and the near ground contact line, and identifies the location of the three-dimensional object in the difference image based on the near ground contact line and the far ground contact line.
Three-dimensional-object detection device, on-vehicle system, and three-dimensional-object detection method
2025-01-14
Patent
Electronic Resource
English
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