| 摘要 |
PROBLEM TO BE SOLVED: To accurately discriminate a traveling object from a shadow regardless of the amount of information on colors in an imaged environmental image.SOLUTION: A vehicle outside environment recognition device 120 includes: an image acquisition part 160 for acquiring an image; a difference image generation part 162 for generating a difference image by calculating a difference between two images whose acquisition timings are different by a plurality of block units; a difference region extraction part 164 for extracting a difference region to which a difference block having a difference is brought close from the difference image; a boundary deriving part 166 for, on the basis of the continuity of the horizontal direction of the difference block in the difference region, deriving a horizontal line equivalent to a change position where the continuity changes as a boundary; and a grouping part 168 for grouping the region equivalent to the vertical upper part of the boundary in the difference region as a movement region indicating a traveling object. |
