THREE-DIMENSIONAL-OBJECT DETECTION DEVICE, ON-VEHICLE SYSTEM, AND THREE-DIMENSIONAL-OBJECT DETECTION METHOD

The present invention improves the accuracy of detection of a three-dimensional object. A three-dimensional object detecting device generates a mask image that masks regions outside a three-dimensional object candidate region in a difference image G of a first overhead image F and a second overhead view image F for which the imaging locations O are mutually aligned, identifies a near ground contact line L of a three-dimensional object based on a masked difference image wherein the difference image G is masked with the mask image , finds an end point of the three-dimensional object based on the masked difference image Gm, identifies the width of the three-dimensional object based on a distance between a non-masking region boundary N and the end point V of the three-dimensional object in the mask image , identifies a far ground contact line L of the three-dimensional object based on the width of the three-dimensional object and the near ground contact line L, and identifies the location of the three-dimensional object in the difference image G based on the near ground contact line L and the far ground contact line L