| 摘要 |
PROBLEM TO BE SOLVED: To properly detect objects by suppressing such a situation that image regions showing a plurality of approaching objects are erroneously selected as one candidate region.SOLUTION: On the basis of parallax image information for an imaging region, parallax histogram information (real frequency U map information) showing a frequency distribution of parallax values d in each row region obtained by dividing the photographed image into plural pieces in the longitudinal direction is generated. On the basis of the parallax histogram information, image regions approaching in the longitudinal direction of the photographed image, and having proximate parallax values with a frequency equal to or greater than a prescribed value are selected as candidate regions (isolated regions) of a detection object image region showing a detection object. With this, the detection object existing in the imaging region is detected. The image region having a real space height satisfying a prescribed height condition is selected as the candidate region using height distribution information showing a distribution of real space heights on the parallax image.SELECTED DRAWING: Figure 3 |
