US 12,292,505 B2
Target object detection apparatus, target object detection method, and non-transitory computer-readable storage medium
Toshiyuki Nomura, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Appl. No. 17/777,337
Filed by NEC Corporation, Tokyo (JP)
PCT Filed Nov. 19, 2019, PCT No. PCT/JP2019/045243
§ 371(c)(1), (2) Date May 17, 2022,
PCT Pub. No. WO2021/100115, PCT Pub. Date May 27, 2021.
Prior Publication US 2023/0003884 A1, Jan. 5, 2023
Int. Cl. G06K 9/00 (2022.01); G01S 17/42 (2006.01); G06T 7/70 (2017.01); G06V 10/25 (2022.01)
CPC G01S 17/42 (2013.01) [G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 2201/07 (2022.01)] 30 Claims
OG exemplary drawing
 
1. A target object detection apparatus comprising:
at least one memory storing instructions; and
at least one processor configured to execute the instructions to:
generate, from three-dimensional information acquired by processing a reflection wave of an electromagnetic wave irradiated toward an inspection target, a two-dimensional image of the inspection target viewed from a predetermined direction;
detect, from the two-dimensional image, each of at least two detection areas of a detection target object recognized by using at least two recognition means;
identify the detection target object, based on a positional relationship between the detected at least two detection areas;
generate, from the three-dimensional information, a first two-dimensional image of the inspection target when viewed from a first direction, and generate distance information to a reflection point of each of pixels constituting the first two-dimensional image;
generate, from the three-dimensional information, a second two-dimensional image of the inspection target when viewed from a second direction different from the first direction, and generate distance information to a reflection point of each of pixels constituting the second two-dimensional image;
detect each of, from the first two-dimensional image, a first detection area in which the detection target object is estimated to be present, and, from the second two-dimensional image, a second detection area in which the detection target object is estimated to be present;
estimate, with respect to the detection target object viewed from the first direction, an area of the detection target object when viewed from the second direction, based on a detection area detected and the distance information of each of positions of the detection area, and set the estimated area as an estimation area; and
identify whether the detection target object is present, based on a positional relationship between the estimation area estimated and the detection area detected when viewed from the second direction.