Patent Document ID: 20150165972
Application ID: 14402197
Patent Status: 0

Claim One:
1. A roadside object detection apparatus to detect a roadside object using a plurality of captured images, comprising: a height information detection unit configured to analyze the captured images, and to detect height information of an object in the captured images in a neighboring region having a distance less than or equal to a threshold from a vehicle having the roadside object detection apparatus installed; a height change detection unit configured to detect a change of a height of a road surface due to the roadside object from the height information in the neighboring region; an extrapolation unit configured to determine positions having the change of the height detected as characteristic points of the roadside object, to define a road model based on the characteristic points, and to extrapolate the road model into a far-off region having a distance greater than or equal to the threshold from the vehicle; and a roadside object detection unit configured to set a search range for the roadside object in the far-off region based on a virtual line that is obtained by the road model being extrapolated by the extrapolation unit, and to detect the roadside object in the far-off region based on the search range.