Object position detecting device, map creation device, autonomous mobile devices, object position detection method and object position detection program

摘要

An object position detecting apparatus includes range sensors, each sensing an object within a sensing region and obtaining an object information indicating existence of the object, image capturing units, each capturing an image data for the sensing region, a distance calculating unit that calculates approximate values of distances from the respective range sensors to the object using the object information and a position determing unit that determines a candidate region where the object exists in the image data based on the approximate values of the distances, and determines a position of the object in the image data by performing image processing of the image data and evaluating a result of the image processing based on a different predetermined threshold between an inside and an outside of the candidate region.