| CPC G06T 7/74 (2017.01) [G06T 2207/20081 (2013.01)] | 11 Claims |
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1. An object detection apparatus comprising:
a processor; and
a memory storing instructions executable by the processor to:
acquire a plurality of input images in which a detection target is captured using a plurality of different modalities;
acquire a plurality of perturbed images in which at least one of the plurality of input images is perturbed;
detect the detection target included in the input images using each of the plurality of perturbed images and one of the plurality of input images that has not been perturbed, and acquire, for each of the plurality of perturbed images, a detection position of the detection target and a detection confidence level as detection results;
calculate, based on the detection position and the confidence level acquired for each of the plurality of perturbed images, an adjusted confidence level for each of the plurality of perturbed images using adjustment parameters sch that a confidence level for a set of the input image that has not been perturbed and the perturbed image in which the position of the detection target in the input image coincides with the position of the detection target in the perturbed image becomes relatively higher than a confidence level for a set of the input image that has not been perturbed and the perturbed image in which the position of the detection target in the input image does not coincide with the position of the detection target in the perturbed image; and
output the detection results of the detection target based on the adjusted confidence level for each of the plurality of perturbed images,
wherein, when the confidence level for a first perturbed image having a first detection position is adjusted, a weight so that a specified weight is applied to a second perturbed image having a second detection that is less than a threshold distance from the first detection position, and the confidence level of each of the plurality of perturbed images is accumulated.
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