Patent ID: 9424462
Filing Date: 2016-08-23
CPC Classification: G06K,G06T,G08G

Claim Text:
1. An object detection device comprising: a range image generating unit that generates a range image based on a pair of gray-scaled images; a grouping unit that groups adjacent regions having range data representing close distances in the range image; and a dividing unit that divides a group region created by the grouping based on the gray-scaled images; wherein the dividing unit divides the group region into laterally separated sub-regions, based on differences between the luminance values of pixels in a vertical line below a ground plane above which objects are imaged and the luminance values of pixels in a vertical line above the ground plane in the gray-scaled images; and wherein the dividing unit divides the group region into laterally separated sub-regions, based on a boundary between a region where the luminance difference is large and a region where the luminance difference is small.