IMAGE PROCESSING DEVICE, IMAGE CAPTURING DEVICE, MOBILE BODY CONTROL SYSTEM, IMAGE PROCESSING METHOD, AND COMPUTER-READABLE RECORDING MEDIUM

摘要

An image processing device (3) includes: a reference detecting unit (46) configured to detect a reference object serving as a reference for a height of an object from a depth map including distance information on pixels; a map generating unit (49) configured to cast, out of a plurality of maps indicating respective height ranges as a height range from the reference object, votes from the distance information on the pixels on the maps indicating the height ranges corresponding to heights of the respective pixels in the depth map from the reference object; an aggregation detecting unit (50) configured to detect an aggregated region of the distance information from the maps; and a classifying unit (51) configured to classify a type of the object of the aggregated region based on distribution of the aggregated region on the maps.