Road obstacle detection device, road obstacle detection method, and recording medium storing a road obstacle detection program

A road obstacle detection method, the method comprising, by a processor:

• using a pre-learned first identifier to associate a semantic label with each pixel of an image, and using a pre-learned second identifier to estimate a statistical distribution of a semantic label of a predetermined region of interest of the image from a statistical distribution of a semantic label of a peripheral region that surrounds the region of interest, wherein the region of interest is predetermined;
• and
• using a statistical distribution of the semantic label associated with the region of interest and the statistical distribution of the semantic label estimated for the region of interest to estimate a likelihood that an object is a road obstacle, wherein
• the likelihood that the object is a road obstacle is estimated based on a square of a difference between the statistical distribution of the semantic label associated with the region of interest and the statistical distribution of the semantic label estimated for the region of interest, an absolute value of the difference, an inner product, and a probability distribution distance.

A non-transitory storage medium that stores a program that causes a processor to execute road obstacle detection processing, the processing including:

• using a pre-learned first identifier to associate a semantic label with each pixel of an image, and using a pre-learned second identifier to estimate a statistical distribution of a semantic label of a region of interest of the image from a statistical distribution of a semantic label of a peripheral region that surrounds the region of interest, wherein the region of interest is predetermined;
• and
• using a statistical distribution of the semantic label associated with the region of interest and the statistical distribution of the semantic label estimated for the region of interest to estimate a likelihood that an object is a road obstacle, wherein
• the likelihood that the object is a road obstacle is estimated based on a square of a difference between the statistical distribution of the semantic label associated with the region of interest and the statistical distribution of the semantic label estimated for the region of interest, an absolute value of the difference, an inner product, and a probability distribution distance.