Patent ID: 11417080

Abstract:
An object detection apparatus 100 is provided with: a fish-eye image acquisition unit 10 configured to acquire a time series fish-eye image; a horizontal panorama image generation unit 20 configured to, for each frame, perform conversion to a horizontal panorama image in which a vertical direction in a real space is expressed in a perpendicular direction of the frame, and an azimuth is expressed equiangularly in a horizontal direction of the frame; an edge pair extraction unit 30 configured to extract a pair of edges in the perpendicular direction from the horizontal panorama image; a change rate extraction unit 40 configured to extract a change rate of an inter-edge distance between the pair of edges; a lower end region extraction unit 50 configured to extract a region of a lower end of an object providing the pair of edges; a distance change rate extraction unit 60 configured to calculate a distance from the object to the fish-eye camera based on the position of the region of the lower end of the object in the horizontal panorama image, and extract a change rate of the distance; and an object detection unit 70 configured to determine whether or not the object exists based on the change rate of the inter-edge distance and the change rate of the distance.