Object detection device, object detection system, object detection method, and recording medium having program recorded thereon

An object detection method comprising:

• transforming, of a first image and a second image that are captured by one or more imaging devices, the second image to make a transformed second image;
• calculating a reliability indicating how small a positional difference between the first image and the transformed second image is;
• generating an integrated image by integrating each pixel of the first image and each corresponding pixel of the transformed second image;
• extracting a feature amount from the integrated image, and calculating an object detection score indicating a probability that the integrated image includes an object, using the extracted feature amount;
• calculating an overall score, with both a degree of the reliability and a level of the object detection score being taken into consideration;
• and
• detecting an object included in the integrated image, based on the overall score.

A non-transitory recording medium recording a program for causing a computer to:

• transform, of a first image and a second image that are captured by one or more imaging devices, the second image to make a transformed second image;
• calculate a reliability indicating how small a positional difference between the first image and the transformed second image is;
• generate an integrated image by integrating each pixel of the first image and each corresponding pixel of the transformed second image;
• extract a feature amount from the integrated image, and calculate an object detection score indicating a probability that the integrated image includes an object, using the extracted feature amount;
• calculate an overall score, with both a degree of the reliability and a level of the object detection score being taken into consideration;
• and
• detect an object included in the integrated image, based on the overall score.