Object detection device
The purpose of the present invention is to provide an object detection device which is capable of accurately estimating the height of a road surface and is capable of reliably detecting an object present on the road surface. This object detection device 1 detects objects upon a road surface, and is equipped with: a stereo camera 110 for capturing images of the road surface 101 a and the road shoulder 101 b and generating image data; a three-dimensional data generation unit 210 for calculating disparity data for the pixels in the image data; a shoulder structure detection unit 310 for using the disparity data and/or the image data to detect shoulder structures; a structure ground-contact position derivation unit 410 for deriving the ground-contact position of a shoulder structure; a road surface position estimation unit 510 for estimating the height of the road surface 101 a from the ground-contact position of the shoulder structure; and an object detection unit 610 for detecting an object 105 upon the road surface 101 a by using the disparity data and the road surface height to separate disparity data corresponding to the road surface 101 a and disparity data for the object.
1. An object detection device, which detects objects upon a road surface, comprising:
a processor configured to:
detect an object on the road surface using image data; and
derive a boundary position between the object and the road surface from the detected object; and
a stereo camera configured to capture images of the road surface and a road shoulder and generating image data,
the processor further configured to:
use the generated image data generated by the stereo camera to generate disparity data for pixels in the generated image data;
use the disparity data and/or the generated image data to detect a predetermined structure installed on the road shoulder;
derive a ground-contact position of the structure detected;
estimate a height of the road surface from the ground-contact position of the structure detected; and
detect the object upon the road surface by using the disparity data generated and the height of the road surface estimated to separate disparity data corresponding to the road surface and disparity data other than the disparity data from the disparity data generated.
2. The object detection device according to claim 1 , wherein
the processor is configured to use the ground-contact position of the structure to estimate the height of the road surface for each position in a line-of-sight direction of the stereo camera.
3. The object detection unit according to claim 1 , wherein
the processor is configured to use disparity data of the structure and/or generated image data of the structure to derive the ground-contact position of the structure.
4. The object detection unit according to claim 1 , further comprising
a database in which height information of the structure is stored,
wherein the processor is configured to use the disparity data of the structure and the height information of the structure stored in the database to derive the ground-contact position of the structure.