| 摘要 |
The present invention relates to a vehicle periphery monitoring device. An object identification unit (42) comprises: a first identifier (50) requiring a relatively low computation volume for an object identification process; and a second identifier (52) requiring a relatively high computation volume for the object identification process. A region to be identified determination unit (40) determines at least one region to be identified (95-99, 105-107, 112, 113) which is presented in the identification process by the second identifier (52), by carrying out a clustering process relating to location and/or scale, with respect to a plurality of region candidates (74) which are extracted by the first identifier (50) as wherein objects (66, 68) are present. |
