| 主权项 |
1. A boundary detection apparatus comprising:
an acquisition unit configured to acquire a disparity image based on information obtained by capturing an image of a peripheral environment of a vehicle, the disparity image including a first pixel region and a second pixel region; an extraction unit configured to extract predetermined pixel regions from the first pixel region and the second pixel region based on a disparity gradient direction of the first pixel region and a disparity gradient direction of the second pixel region; and a detection unit configured to detect a boundary of a step surface existing alongside a road by joining together at least some of the predetermined pixel regions extracted by the extraction unit, wherein the first pixel region and the second pixel region sandwich the predetermined pixel region, the first pixel region and the second pixel region collectively comprise a first pixel, a second pixel, a third pixel, and a fourth pixel, the first pixel and the third pixel are positioned on either side of the predetermined pixel region in a first direction, the second pixel and the fourth pixel are positioned on either side of the predetermined pixel region in a second direction, an angle formed by a first disparity gradient direction of the first pixel and a third disparity gradient direction of the third pixel is within a predetermined angular range of a right angle, and an angle formed by a second disparity gradient direction of the second pixel and a fourth disparity gradient direction of the fourth pixel is within a predetermined angular range of a right angle. |
