Patent Document ID: 9652857
Application ID: 14130093
Patent Status: 1

Claim One:
1. An object detection apparatus, comprising: an overlapping area acquisition unit which acquires an overlapping area indicating that a potential object exists in a three-dimensional space based on data generated by images acquired by a plurality of image acquiring units, wherein the data corresponds to an object area in the three-dimensional space; an overlapping quantity acquisition unit which acquires an integral quantity of a shape model related to the overlapping area, wherein the shape model comprises a three-dimensional model corresponding to a shape of the potential object, and wherein the integral quantity is a value representing a degree to which the potential object fills the shape model; an overlapping distribution acquisition unit which acquires a distribution degree of the shape model related to the overlapping area, wherein the distribution degree is a value representing a degree to which the potential object is uniformly distributed in the shape model; and an object determination unit which determines whether the potential object is an object, wherein when the integral quantity is higher in value than a first threshold value, or lower in value than a second threshold value, the object determination unit determines whether the potential object is an object based on the integral quantity, and wherein when the integral quantity is lower in value than the first threshold value and higher in value than the second threshold value, the object determination unit determines whether the potential object is an object based on the distribution degree.