Patent ID: 8160300
Filing Date: 2012-04-17
Classification: G06K

Abstract:
1. A pedestrian detecting apparatus comprising: forward three-dimensional object recognizing means for recognizing a forward three-dimensional object; first pedestrian judging means for judging, on the basis of a size and a motion state of the recognized forward three-dimensional object, whether the forward three-dimensional object is a pedestrian; second pedestrian judging means for judging, on the basis of shape data on the recognized forward three-dimensional object, whether the forward three-dimensional object is the pedestrian; final pedestrian judging means for finally determining, on the basis of a result of judgment by the first pedestrian judging means and a result of judgment by the second pedestrian judging means, whether the recognized forward three-dimensional object is the pedestrian; and crossing-pedestrian judging means for judging, on the basis of a front-rear direction speed and a lateral direction speed of the recognized forward three-dimensional object, whether the recognized forward three-dimensional object is a crossing pedestrian crossing in front of a vehicle.