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Method and apparatus for integrating object detection information detected by respective object detectors corresponding to respective cameras located in the surroundings for collaborative driving using an application capable of V2X communication and sensor fusion by a plurality of vehicles.
Method and apparatus for integrating object detection information detected by respective object detectors corresponding to respective cameras located in the surroundings for collaborative driving using an application capable of V2X communication and sensor fusion by a plurality of vehicles.
PROBLEM TO BE SOLVED: To provide an object detection method and device capable of acquiring accurate object detection information for a surrounding environment. SOLUTION: Object detection information corresponding to each of the cameras located in the periphery is integrated by deep learning-based image analysis and detected by an object detector that detects an object in each image generated from each camera. When the first to n-th object detection information are obtained from the first object detector to the n-th object detector in descending order of detection reliability, the integrated device increases k from 3 to n. Meanwhile, the (k-2)th object and the kth object are integrated by a matching operation to obtain the (k-1)th object integrated information, and the (k-1)th object integrated information is reprojected to an image. [Selection diagram] Figure 2
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