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OBSTACLE DETECTION DEVICE, OBSTACLE DETECTION METHOD, AND STORAGE MEDIUM STORING OBSTACLE DETECTION PROGRAM
OBSTACLE DETECTION DEVICE, OBSTACLE DETECTION METHOD, AND STORAGE MEDIUM STORING OBSTACLE DETECTION PROGRAM
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机译:障碍物检测装置,障碍物检测方法和存储障碍物检测程序的存储介质
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摘要
An obstacle detection device includes a stereo camera that captures IR images on the right side and left side; a point cloud data creation unit that creates point cloud data having three-dimensional position information from the IR images captured by the stereo camera; an obstacle detection unit that detects an obstacle according to point cloud data; an invalid area identification unit that identifies whether an invalid area with no point cloud is present in point cloud data; and a target recognition unit that recognizes a particular target in the invalid area with no point cloud according to an IR image. When a particular target is recognized by the target recognition unit, the obstacle detection unit does not determine the invalid area with no point cloud to be an obstacle.
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