Patent Document ID: 9041588
Application ID: 13816810
Patent Status: 1

Claim One:
1. An object detection apparatus comprising: a candidate point extraction section configured to extract candidate points from combined map information combining camera distance map information in which coordinates in an image plane are mapped to information regarding object presence obtained based on a stereo image and radar distance map information in which the coordinates in the image plane are mapped to information regarding object presence obtained based on information detected by a radar, the candidate points being coordinates at which corresponding information regarding object presence is equal to or greater than a predetermined value; a setting section configured to arrange the extracted candidate points into groups based on values of the corresponding information regarding object presence, and that sets up, as a first detected object region, a region in the image plane including all candidate points of each group; and a correction section configured to: divide, with respect to travel speed map information in which the coordinates in the image plane are mapped to detected travel speeds detected by the radar, a first corresponding region, which corresponds to the first detected object region, into a plurality of partial regions in the direction of a first coordinate axis of coordinate axes of the image plane; compute a first correlation value with respect to the detected travel speeds between a representative partial region among the plurality of partial regions and a partial region other than the representative partial region; and divide the first detected object region into a plurality of second detected object regions based on the first correlation value.