Object detection device
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United States of America Patent
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Dec 17, 2013
Grant Date -
Mar 29, 2012
app pub date -
Jun 2, 2010
filing date -
Jun 3, 2009
priority date (Note) -
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Abstract
A depth histogram is created for each of a plurality of local regions of the depth image by grouping, according to specified depths, the depth information for the individual pixels that are contained in the local regions. A degree of similarity between two of the depth histograms for two of the local regions at different positions in the depth image is calculated as a feature. A depth image for training that has a high degree of certainty is defined as a positive example, a depth image for training that has a low degree of certainty is defined as a negative example, a classifier that is suitable for classifying the positive example and the negative example is constructed, and an object that is a target of detection is detected in the depth image, using the classifier and based on the feature.
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