IMAGE PROCESSING APPARATUS, SOLID OBJECT DETECTION METHOD, SOLID OBJECT DETECTION PROGRAM, AND MOVING OBJECT CONTROL SYSTEM

摘要

An image processing apparatus installed in a subject vehicle includes an imaging unit 100 that photographs images of a front area (imaging area) in the traveling direction of the subject vehicle and a stereo image processor that detects an object to be detected such as a pedestrian present in the imaging area. The stereo image processor detects a guardrail-analogous object based on a horizontal-parallax image, designates a detection area β based on the detected guardrail-analogous object, and detects the object present in the detection area β.

主权项

1. An image processing apparatus comprising:
a plurality of imaging devices that photograph a plurality of images of an imaging area; and an image processor that detects an object to be detected based on the plurality of photographed images; wherein the image processor generates parallax image data based on the plurality of photographed images, detects a solid object that extends from an end to a vanishing point of at least one of the plurality of photographed images based on the generated parallax image data, and designates a detection area for detecting the object to be detected based on the detected solid object.