The present invention improves the accuracy of detection of a three-dimensional object. A three-dimensional object detecting device generates a mask image 90 that masks regions outside a three-dimensional object candidate region in a difference image G of a first overhead image F1 and a second overhead view image F2 for which the imaging locations O are mutually aligned, identifies a near ground contact line L1 of a three-dimensional object based on a masked difference image wherein the difference image G is masked with the mask image 90, finds an end point of the three-dimensional object based on the masked difference image Gm, identifies the width of the three-dimensional object based on a distance between a non-masking region boundary N and the end point V of the three-dimensional object in the mask image 90, identifies a far ground contact line L2 of the three-dimensional object based on the width of the three-dimensional object and the near ground contact line L1, and identifies the location of the three-dimensional object in the difference image G based on the near ground contact line L1 and the far ground contact line L2.
THREE-DIMENSIONAL-OBJECT DETECTION DEVICE, ON-VEHICLE SYSTEM, AND THREE-DIMENSIONAL-OBJECT DETECTION METHOD
2023-03-30
Patent
Electronic Resource
English
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