Abstract: A sensor position calibration device includes a moving object information acquisition unit that acquires a self-position measured by a reference moving object moving in a movement area; a moving object measurement unit that measures a position of the reference moving object based on observation information of a camera; a calibration unit that calibrates position information of the camera by using the self-position of the moving object and an estimated position calculated based on the measured position and the position information of the camera; a calibration error calculation unit that calculates an error between a second estimated position and the self-position; a reliability map generation unit that, based on the error, generates a reliability map indicating reliability of position measurement in the movement area using the camera; and a moving object control unit that controls movement of the moving object by using the reliability map.

Abstract: The present invention provides a stereo camera in which it is possible to improve the precision of correcting vertical offset between a first image captured by a first image-capture unit and a second image captured by a second image-capture unit. In the present invention, an image-capture system unit 100a captures a benchmark image. An image-capture system unit 100b captures a reference image. A geometry correction unit 125 generates a plurality of geometry-corrected reference images having differing amounts of vertical-direction movement from the reference image. A parallax calculation unit 126 generates a plurality of parallax images from the combination of the benchmark image and each of the reference images. A parallax image evaluation unit 131 calculates evaluation values pertaining to the reliability of each of the parallax images.

Abstract: The purpose of the present invention is to provide an object detection device conducive to carrying out control in an appropriate manner according to the surrounding environment, with consideration to the accuracy of locations of detected objects. The device is characterized by being provided with: a parallax information generation unit for generating parallax information from a plurality of parallax images acquired from a plurality of imaging units; an object detection unit for detecting objects contained in the parallax images; a location information generation unit for generating location information about the objects, on the basis of the parallax information; and a location accuracy information generation unit for generating location accuracy information pertaining to the accuracy of the location information, on the basis of the condition of generation of the parallax information.

Abstract: The present invention provides a stereo camera in which it is possible to improve the precision of correcting vertical offset between a first image captured by a first image-capture unit and a second image captured by a second image-capture unit. In the present invention, an image-capture system unit 100a captures a benchmark image. An image-capture system unit 100b captures a reference image. A geometry correction unit 125 generates a plurality of geometry-corrected reference images having differing amounts of vertical-direction movement from the reference image. A parallax calculation unit 126 generates a plurality of parallax images from the combination of the benchmark image and each of the reference images. A parallax image evaluation unit 131 calculates evaluation values pertaining to the reliability of each of the parallax images.

Abstract: Provided is an object detection device capable of reliably recognizing a vehicle. This object detection device detects multiple three-dimensional objects from a left image and a right image captured with a left imaging unit and a right imaging unit (S103), extracts, as combination candidates from among the multiple three-dimensional objects, two three-dimensional objects which exist with an interval to the left/right, and determines whether a sparse parallax region, which is a region having a smaller parallax density than left/right regions, exists in an intermediate region between the two three-dimensional objects extracted as combination candidates.

Abstract: The present invention addresses the problem of attaining an object recognition device that can change control of a vehicle in accordance with the reliability of detection of a target object. The object recognition device according to the present invention recognizes a target object around a vehicle and includes: a distance-information-based target object determination unit 106 that determines whether or not an object 303 is a target object by using distance information from the vehicle 301 to the object 303; an image-information-based target object determination unit 107 that determines whether or not the object 303 is a target object by using image information obtained by capturing an image of the object 303 from the vehicle 301; and a target object detection reliability calculation unit 108 that calculates the reliability of detection of a target object by using the distance information and the image information.

Abstract: Provided is an object detection device capable of reliably recognizing a vehicle. This object detection device detects multiple three-dimensional objects from a left image and a right image captured with a left imaging unit and a right imaging unit (S103), extracts, as combination candidates from among the multiple three-dimensional objects, two three-dimensional objects which exist with an interval to the left/right, and determines whether a sparse parallax region, which is a region having a smaller parallax density than left/right regions, exists in an intermediate region between the two three-dimensional objects extracted as combination candidates.

Abstract: The purpose of the present invention is to provide an object detection device conducive to carrying out control in an appropriate manner according to the surrounding environment, with consideration to the accuracy of locations of detected objects. The device is characterized by being provided with: a parallax information generation unit for generating parallax information from a plurality of parallax images acquired from a plurality of imaging units; an object detection unit for detecting objects contained in the parallax images; a location information generation unit for generating location information about the objects, on the basis of the parallax information; and a location accuracy information generation unit for generating location accuracy information pertaining to the accuracy of the location information, on the basis of the condition of generation of the parallax information.

Abstract: The present invention addresses the problem of attaining an object recognition device that can change control of a vehicle in accordance with the reliability of detection of a target object. The object recognition device according to the present invention recognizes a target object around a vehicle and includes: a distance-information-based target object determination unit 106 that determines whether or not an object 303 is a target object by using distance information from the vehicle 301 to the object 303; an image-information-based target object determination unit 107 that determines whether or not the object 303 is a target object by using image information obtained by capturing an image of the object 303 from the vehicle 301; and a target object detection reliability calculation unit 108 that calculates the reliability of detection of a target object by using the distance information and the image information.