Xsensus LLP
Object detection device and vehicle
An object detection device, detecting an object based on an image from a stereo camera on a vehicle, includes a parallax calculator, a first road parameter estimator, a road parameter storage, a second road parameter estimator, and an object detector. The parallax calculator calculates three-dimensional information of a scene in the image. The first road parameter estimator calculates a first road parameter based on the three-dimensional information. The road parameter storage associates the first road parameter with vehicle information to store therein. The second road parameter estimator calculates, based on stored information, a second road parameter using the first road parameter under a predetermined condition for the vehicle. The object detector detects the object using the second road parameter. The predetermined condition includes that an angular difference between a road surface observed from the stereo camera and a contact surface of the vehicle at observation is within a predetermined angle.
MITSUBISHI ELECTRIC CORPORATION
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Shintaro
Watanabe