ON-BOARD IMAGE PROCESSING DEVICE

摘要

Even if dirt is clung to a lens of a camera, a parking frame is securely detected. An imager (10) mounted on a vehicle (1) images an image ( I ) at circumference of the vehicle (1). A white line candidate area detector (30) detects a white line candidate area that constitutes the parking frame from the image ( I ). An endpoint position detector (40) detects both endpoints of a center line (M) of the white line candidate area. An endpoint movement position predictor (60) predicts positions where the endpoints of the center line (M) move based on a behavior of the vehicle (1) measured in a vehicle behavior measurer (50). When a difference between positions of the predicted endpoints acquired by an endpoint movement amount judger (70) and positions of the detected endpoints is larger than a predetermined value, the positions of the detected endpoints are stored in an endpoint position storage (80). When the detected endpoints are within a predetermined distance from the positions of the endpoints stored in the endpoint position storage (80), a parking frame detector (100) reduces a degree of contribution of the white line candidate area containing the endpoints to detect the parking frame.