| 摘要 |
PROBLEM TO BE SOLVED: To suppress a reduction in detection accuracy of attachments due to the saturation state of a light receiving unit.SOLUTION: An attachment detection device specifies, from a photographed image obtained through the irradiation with light from a light irradiation unit 202, a photographed image part corresponding to a light receiving unit in an imaging unit 201 receiving light with the intensity equal to or higher than a predetermined threshold, as an unused image part, and detects, on the basis of two photographed images photographed in photographing periods different from each other, an image area having a difference in pixel value equal to or more than a prescribed value between both photographed images, as an attachment image area, within a photographed image part excluding the specified unused image part as a processing object. |
