Object detecting method and an object detecting means

The present application discloses a method and apparatus for detecting an object, the image for the current frame to detect an object, the image of the current frame includes a disparity map of the current frame of the current frame and corresponding to the original image, said original image comprising gray FIGS degree and at least a color map. The object detecting method comprising: obtaining a first disparity map detection target detected in the current frame disparity map; FIG obtain the original detection target detected in the current frame original image; detection target based on the original picture to the first detection target disparity map corrected disparity map a second detection target; and outputting the second detection target disparity map. Accordingly, the present disclosure not only makes the embodiment more robust to environmental changes based on the object detection method of the original image, and can be made more accurate object detection method based on parallax images, even in very sparse disparity.