| 摘要 |
PROBLEM TO BE SOLVED: To determine the type of a movable body by processing a distance image obtained by imaging a movable body traveling along a railroad at an angle from above.SOLUTION: A distance image processing part 12 processes a distance image obtained by imaging the back face or front face of a movable body traveling along a railroad at an angle from above and input to a distance image input part 11, and detects, for each space divided into three or more pieces so as not to overlap in the height direction of the movable body, a representative distance to the movable body in the space. An arithmetic operation part 16 calculates, for each combination of preset spaces, a determination value on the basis of the distance difference of the representative distances detected for the spaces in the combination. Further, the arithmetic operation part 16, for each combination of the preset space, determines the type of the movable body imaged in the distance image input to the distance image input part 11 by using the plurality of calculated determination values. |
