Object detection apparatus

TL;DR: In this article, the existence of an object is detected on the basis of a change in a distance up to the object in terms of time, and the object can be detected stably and surely.

Abstract: PROBLEM TO BE SOLVED: To provide an object detection apparatus by which the existence of an object can be detected precisely and stably and by which the computing amount of the mapping processing operation of a stereo image is reduced by a method wherein, in a stereo image processing operation which is used as an input method for three-dimensional information, a change, in terms of time, in a distance up to the object is detected SOLUTION: In an object detection apparatus, the existence of an object is detected on the basis of a change in a distance in terms of time In the object detection apparatus, the position of a plane such as a road, a floor, a wall or the like is estimated by a plane estimation part 17, the distance of a rectangular region in which a distance cannot be measured in the rectangular region of the plane is computed so as to be supplemented on the basis of a distance up to the plane in the rectangular region in which the distance can be measured Thereby, the object can be detected stably and surely, and the computing amount of a mapping processing operation in a mapping processing part 7 can be reduced while a parallax search region is limited to a part between an imaging device and the plane