Patent ID: 9740943
Date: 2017-08-22
CPC Classifications: B60R,G06K,G06T,G08G,H04N

Claim:
1. A three-dimensional object detection device, comprising: a camera that captures an image of a predetermined area; a viewport conversion unit that performs a view point conversion on the image obtained by the camera into a birds-eye view image; a brightness detection unit that detects a brightness in the predetermined area; a first three-dimensional object detection unit that detects a three-dimensional object by generating differential waveform information from a differential image of the birds-eye view images obtained by the viewport conversion unit at different times and by confirming that the differential waveform information is equal to or greater than a first threshold α when a brightness detected by the brightness detection unit is equal to or greater than a predetermined value; and a second three-dimensional object detection unit that detects a three-dimensional object by: a three-dimensional object judgment unit that finally judges whether or not an object is a three-dimensional object from detection results; and a threshold value setting unit that sets both the first threshold α and the second threshold β in accordance with the brightness detected by the brightness detection unit, wherein the three-dimensional object judgment unit is configured to determine the three-dimensional object when the differential waveform information is equal to or greater than the first threshold α and the edge information is equal to or greater than the second threshold β, and wherein the threshold value setting unit is configured to set a ratio of the first threshold α to the second threshold β, α/β, smaller as the brightness detected by the brightness detection unit is darker while setting the ratio α/β smaller as the brightness is brighter.