Object detection device, object detection method, and storage medium

An object detection method executed using a computer comprising:

• acquiring a captured image in which a road is captured;
• generating a low-resolution image in which an image quality of the captured image is lowered;
• defining a plurality of partial area sets in the low-resolution image, each of the plurality of partial area sets being a set of a plurality of partial areas, the number of pixels in each of the partial areas differing from each other between the plurality of partial area sets;
• deriving an aggregated value obtained by aggregating differences in feature amount between the partial areas included in each of the plurality of partial area sets and the peripheral partial areas, and extracting a point of interest based on the aggregated value;
• and
• causing a mobile object to autonomously travel based on a result of determination for an object in the point of interest in the captured image.

A computer-readable non-transitory storage medium that has stored a program causing a computer to:

• acquire a captured image in which a road is captured;
• generate a low-resolution image in which an image quality of the captured image is lowered;
• define a plurality of partial area sets in the low-resolution image, each of the one or more plurality of partial area sets being a set of a plurality of partial areas, the number of pixels in each of the partial areas differing from each other between the plurality of partial area sets;
• derive an aggregated value obtained by aggregating differences in feature amount between the partial areas included in each of the plurality of partial area sets and the peripheral partial areas, and extract a point of interest based on the aggregated value;
• and
• cause a mobile object to autonomously travel based on a result of determination for an object in the point of interest in the captured image.