OBSTACLE DETECTION APPARATUS, OBSTACLE DETECTION METHOD, AND OBSTACLE DETECTION PROGRAM

In an obstacle detection apparatus, the captured image of a vicinity of a vehicle from an imaging apparatus is acquired. A three-dimensional estimation image showing a three-dimensional position of a feature point in the captured image is generated, and a three-dimensional position of an object is estimated. An attribute image in which an object in the captured image is classified into one or more classes that include at least a road-surface class is generated. The three-dimensional estimation image and the attribute image are fused, the feature points and the classes are associated, and road-surface points associated with the road-surface class are extracted. Based on the road-surface points, a road-surface height in the vicinity of the vehicle is estimated. Based on the estimated road-surface height, the three-dimensional position of the object is corrected. Based on the three-dimensional position of the object, an obstacle in the vicinity of the vehicle is detected.