| 摘要 |
PROBLEM TO BE SOLVED: To suppress the erroneous detection of a three-dimensional object based on edges resulting from bubbles BU.SOLUTION: A three-dimensional object detector comprises: a camera 10 (imaging means) mounted in a vehicle and including a lens 11; a three-dimensional object detection units 33, 37 (three-dimensional object detection means) detecting a three-dimensional object on the basis of a picked-up image acquired by the camera 10 (imaging means); and lens-state determination means 38 determining whether the lens 11 is in a predetermined bubble adhesion state in which bubbles adhere to the lens 11 on the basis of the picked-up image, the three-dimensional object detection units 33, 37 (three-dimensional object detection means) suppressing the detection of the three-dimensional object based on an image contained in a predetermined area defined by the picked-up image if the lens-state determination means 38 determines that the lens 11 is in the predetermined bubble adhesion state. |
