DETECTION DEVICE, DISPARITY VALUE DERIVING DEVICE, OBJECT RECOGNIZING DEVICE, DEVICE CONTROL SYSTEM, DETECTION METHOD, AND PROGRAM

摘要

A detection device (1, 3, 300) includes an acquisition unit (301), a slope calculating unit (302), an extremum detecting unit (303), a counting unit (305), and a determination unit (306). The acquisition unit (301) acquires each pixel value of a captured image acquired by imaging an object by an imaging unit (10a), as a target pixel value. The slope calculating unit (302) calculates each slope between adjacent two points on a graph representing a change in pixel values within a predetermined search range starting at a pixel corresponding to each target pixel value. The extremum detecting unit (303) detects extremums of the pixel values based on the slopes. The counting unit (305) counts the number of extremums whose pixel value is in a predetermined range among the extremums detected by the extremum detecting unit (303) in the search range. When the number is equal to or larger than a predetermined threshold, the determination unit (306) determines that a pixel corresponding to the target pixel value is included in an image area of a repeated pattern of the captured image.