公开(公告)号：US20200082184A1

公开(公告)日：2020-03-12

申请号：US16682367

申请日：2019-11-13

Applicant: DENSO CORPORATION

Inventor： Hideki SHIRAI ,  Masayuki IMANISHI ,  Hirohiko YANAGAWA

IPC: G06K9/00 ,  G06T7/20

Abstract: An object detection device acquires a plurality of images captured by a camera mounted in a moving body and acquires movement information of the camera. The object detection device extracts an edge from a first image among the acquired images. The object detection device calculates a plurality of candidate points corresponding to the edge in a second image, based on the movement information and calculates candidate points corresponding to a plurality of heights as height candidates of the edge. The object detection device calculates a correlation index value between the edge and each of the plurality of candidate points and detects the candidate point with the largest correlation as a correspondence point of the edge. The object detection device detects an object at a position of the edge when the correlation index value of the detected correspondence point is equal to or smaller than a predetermined threshold.