Road surface detection device, object detection device, object detection system, moving object and object detection method

摘要

PROBLEM TO BE SOLVED: To improve the performance of detecting an object of an object detection device. An object detection device (20) includes a processor (22). The processor 22 acquires or generates a first parallax image generated based on the output of the stereo camera 10 mounted on the moving body 30. In the first parallax image, pixels representing parallax are arranged on a two-dimensional plane composed of a first direction corresponding to the baseline length direction of the stereo camera 10 and a second direction intersecting the first direction. The processor 22 approximates the relationship between the coordinates of the road surface 41 in the traveling direction of the moving body 30 in the second direction and the parallax representing the road surface 41 included in the first parallax image by two straight lines. [Selection diagram] FIG. 14