Patent Document ID: 8903133
Application ID: 13821918
Patent Status: 1

Claim One:
1. A periodic stationary object detection system for detecting a periodic stationary object in surroundings of a moving object, comprising: an image-capturing device mounted on the moving object and capable of capturing an image of the surroundings of the moving object; a viewpoint converting unit configured to perform viewpoint conversion on the image captured by the image-capturing device to create a bird's eye view image; a feature point-extracting unit configured to extract a feature point of a three-dimensional object from image data on a predetermined region of the bird's eye view image for each of a plurality of sub regions included in the predetermined region; a waveform data-calculating unit configured to calculate waveform data corresponding to a distribution of the feature points extracted by the feature point-extracting unit in the predetermined region on the bird's eye view image; a peak information detecting unit configured to detect peak information of the waveform data; a periodic stationary object candidate-detecting unit configured to judge whether or not the three-dimensional object having the feature point extracted by the feature point-extracting unit is a periodic stationary object candidate on a basis of whether or not the peak information is equal to or larger than a predetermined first threshold value; and a periodic stationary object judging unit configured to determine that the periodic stationary object candidate is a periodic stationary object when the periodic stationary object candidate is detected by the periodic stationary object candidate-detecting unit and the detection is made under a predetermined condition.