| CPC G06V 20/52 (2022.01) [G06T 7/11 (2017.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G06V 10/761 (2022.01); G06T 2207/10028 (2013.01)] | 8 Claims |
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1. An imaging device comprising:
a detector including a camera for distance measurement; and
a controller configured to divide a target space into a plurality of distance zones based on distances in a depth direction from a reference point and generate, from an output of the detector, distance image data indicating the respective distance zones,
the controller including:
an input section configured to receive setting information of the distance zones, the setting information including the number of the distance zones and a near end position and a far end position of each of the distance zones;
a distance image generator configured to generate the distance image data from the output of the detector, using the setting information of the distance zones input to the input section;
an extractor configured to extract a target object present across first and second distance zones adjacent to each other; and
a calculator configured to calculate, based on the distance image data, target object location data estimating a location and a shape of the target object extracted by the extractor,
the calculator being configured to
obtain a first position, a second position, and a third position on a plane formed by the depth direction and a horizontal direction perpendicular to the depth direction, the first position indicating the position of the target object at the near end position of the first distance zone, the second position indicating the position of the target object at a boundary position between the first and second distance zones, the third position indicating the position of the target object at the far end position of the second distance zone, and
generate, on the plane, the target object location data based on location information of the second position with respect to a straight line connecting the first position and the third position.
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