Patent ID: 11954918
Assignee: DENSO CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. An object detection device comprising:
a camera configured to capture an image of an object existing around a vehicle as image data;
an image processing unit configured to detect the object from the image captured using the camera, and to obtain bearing data on a bearing of the detected object;
a distance sensor configured to obtain distance data on a distance from the vehicle to the object; and
a position identification unit configured to identify a grid cell where the object exists on a grid map that is based on a polar coordinate system whose center is the vehicle on the basis of the bearing data obtained from the image processing unit and the distance data obtained from the distance sensor, wherein
in response to a plurality of objects being detected in a plurality of grid cells and a plurality of non-continuous grid cells being identified as the grid cells where the object exists, the position identification unit is configured to:
determine whether the plurality of objects detected in the plurality of non-continuous grid cells are a same object on the basis of a result of an edge detection from the image data obtained from the image processing unit;
identify the same object existing over the plurality of non-continuous grid cells; and
correlate the identified same object with a plurality of continuous grid cells where the same object exists.