Patent Document ID: 20150294160
Application ID: 14682496
Patent Status: 0

Claim One:
1. An object detection apparatus mountable to a moveable apparatus for detecting an object existing outside the moveable apparatus by capturing a plurality of images using a plurality of imaging devices mounted to the moveable apparatus and generating a disparity image from the captured images, the object detection apparatus comprising: a map generator to generate a map indicating a frequency profile of disparity values correlating a horizontal direction distance of the object with respect to a movement direction of the moveable apparatus, and a distance of the movable apparatus to the object in the movement direction of the moveable apparatus based on the disparity image; an isolated area detection unit to detect an isolated area based on the frequency profile; an isolated area divider to divide the isolated area into two or more isolated areas based on the frequency profile in the isolated area; and an object detector to detect an object based on the divided isolated area.