Object detection device, vehicle control system, object detection method, and non-transitory computer readable medium

A method of detection of an object comprising

• using a first neural network to detect a position region of an object in an image,
• using a second neural network to identify a large attribute of the object,
• using a third neural network to identify a small attribute of the object which is a lower concept of the large attribute, and,
• when a confidence of a result of identification of the small attribute is equal to or more than a threshold value, judging that the result of identification of the small attribute is a result of detection of the object and, when the confidence is less than the threshold value, judging the result of detection based on a result of identification of the large attribute.

A non-transitory computer-readable medium storing an object detection use computer program making a computer

• use a first neural network to detect a position region of an object in an image,
• use a second neural network to identify a large attribute of the object,
• use a third neural network to identify a small attribute of the object which is a lower concept of the large attribute, and,
• when a confidence of a result of identification of the small attribute is equal to or more than a threshold value, judge that the result of identification of the small attribute is a result of detection of the object and, when the confidence is less than the threshold value, judge the result of detection based on a result of identification of the large attribute.

An object detection device configured to:

• use a first neural network to detect a position region of an object in the image,
• use a second neural network to identify a large attribute of the object,
• use a third neural network to identify a small attribute of the object which is a lower concept of the large attribute,
• judge a result of detection of the object,
• judge that a result of identification of the small attribute is the result of detection if a confidence of the result of identification of the small attribute is equal to or more than a threshold value, and judge the result of detection based on a result of identification of the large attribute if the confidence is less than the threshold value.