ENTITY DETECTION METHOD, ENTITY DETECTION PROGRAM, AND ENTITY DETECTION SYSTEM

摘要

PROBLEM TO BE SOLVED: To stably detect a three-dimensional entity.SOLUTION: An entity detection system extracts edge points from an image at each of times produced by a camera installed in a moving entity, and produces a contour line by linking the edge points. The entity detection system produces an integrated contour line by integrating contour lines extracted from the images at plural times, and interpolates break parts of each of the contour lines using the produced integrated contour line. The entity detection system identifies a set of symmetric contour lines for each of contour lines extracted from the image at the same time, performs interpolation to align one end point of the contour line with the other end point of the contour line. Based on the interpolated contour lines, the entity detection system decides whether a three-dimensional entity is contained in the images produced by the camera.SELECTED DRAWING: Figure 1