| 摘要 |
PROBLEM TO BE SOLVED: To propose an on-vehicle system, an information processing apparatus, and a program capable of detecting a running available area with high accuracy.SOLUTION: A CPU 11 detects ranging points included in a predetermined height range on the basis of a detection signal of a laser radar 3, narrows down the ranging points by performing HOUGH transform, and performs projection transform on a position of each narrowed-down ranging point into coordinates in an image space of a picked-up image picked up by an on-vehicle camera 5. The CPU 11 rotates an edge filter. The CPU 11 calculates a gradient direction of the ranging point on the image from two-dimensional coordinates (x, y) of the ranging point obtained by the projection transform in the image space, rotates an edge detection filter along the calculated gradient direction, and sets a direction of the edge detection filter. The CPU 11 detects edges from the picked-up image using the set edge detection filter.SELECTED DRAWING: Figure 1 |
