US 12,437,434 B2
Object detection device, object detection system, mobile object, and object detection method
Fuko Takano, Yokohama (JP); and Kazumasa Akimoto, Sagamihara (JP)
Assigned to KYOCERA Corporation, Kyoto (JP)
Appl. No. 17/753,949
Filed by KYOCERA Corporation, Kyoto (JP)
PCT Filed Sep. 15, 2020, PCT No. PCT/JP2020/034985
§ 371(c)(1), (2) Date Mar. 18, 2022,
PCT Pub. No. WO2021/054341, PCT Pub. Date Mar. 25, 2021.
Claims priority of application No. 2019-170902 (JP), filed on Sep. 19, 2019.
Prior Publication US 2023/0351626 A1, Nov. 2, 2023
Int. Cl. G06T 7/70 (2017.01); G06T 7/593 (2017.01); G06V 20/58 (2022.01)
CPC G06T 7/70 (2017.01) [G06T 7/593 (2017.01); G06V 20/58 (2022.01); G06T 2207/10021 (2013.01); G06T 2207/30252 (2013.01)] 12 Claims
OG exemplary drawing
 
1. An object detection device comprising:
a processor configured to search for a coordinate associated with a target disparity satisfying a predetermined condition in a second direction of a disparity map, update a first coordinate to a found coordinate, and calculate a height of an object corresponding to the target disparity based on the first coordinate, wherein the disparity map associates a disparity acquired from a captured image generated by a stereo camera capturing an image of a road surface with a two-dimensional coordinate formed by the second direction and a first direction corresponding to a horizontal direction of the captured image, the second direction intersecting the first direction, wherein
the processor is configured to,
when a candidate coordinate associated with a disparity approximately equal to the target disparity is present beyond a predetermined interval along the second direction of the disparity map from the first coordinate, calculate a first candidate height of the object based on the first coordinate, and calculate a second candidate height of the object based on the candidate coordinate, and
determine which of the first candidate height and the second candidate height is to be acquired as the height of the object based on whether two first coordinates between which the candidate coordinate is located are present in the first direction of the disparity map, such that
in response to determining that the two first coordinates between which the candidate coordinates is located are present in the first direction of the disparity map, determine that the second candidate height among the first candidate height and the second candidate height is to be acquired as the height of the object, and
in response to determining that the two first coordinates between which the candidate coordinates is located are not present in the first direction of the disparity map, determine that the first candidate height among the first candidate height and the second candidate height is to be acquired as the height of the object.