Patent ID: 6456728
Filing Date: 2002-09-24
Classification: G06T

Abstract:
An object detection apparatus, comprising:an image capture device configured to capture a distance image of an object in a single image capture direction, said distance image being configured by a plurality of pixel data indicative of a distance to and a three-dimensional shape of the object, the image capture device including a light-emitting device emitting light, a light-receiving device receiving a first amount of light not including light reflected by the object when the light-emitting device emits light, receiving a second amount of light when the light-emitting device does not emit light, and receiving a third amount of light when the light-emitting device emits light onto the object, a first subtracting device subtracting the second amount of light from the first amount of light ahead of capturing the distance image to obtain a fourth amount of light and a second subtracting device subtracting the fourth amount of light from the third amount of light to obtain the distance image; an object extraction device configured to extract the shape of the object based on the pixel data from the distance image thereby obtaining an extracted object; and a detection device configured to detect at least one of the object and a motion of the object from the shape of the extracted object.