Patent ID: 8611604

Claim:
An object detection device, comprising: a depth image acquisition means that acquires depth information that expresses distances to an object of image capture and acquires a depth image in which information for individual pixels is the depth information; a depth histogram creation means that creates a depth histogram for each of a plurality of local regions of the depth image by grouping, according to specified depths, the depth information for the individual pixels that are contained in the local regions; a feature calculation means that calculates, as a feature, a degree of similarity between two of the depth histograms for two of the local regions at different positions in the depth image; and a classification means that defines a depth image for training that has a high degree of certainty as a positive example, defines a depth image for training that has a low degree of certainty as a negative example, constructs a classifier that is suitable for classifying the positive example and the negative example, and detects in the depth image, using the classifier and based on the feature, an object that is a target of detection.