ON-BOARD IMAGE PROCESSING DEVICE

摘要

The purpose of the present invention is to reliably detect a parking space even if dirt has adhered to a camera lens. An image pickup unit (10) installed on a vehicle (1) picks up an image (I) of the periphery of the vehicle (1), and then a white-line candidate region detection unit (30) detects, from the image (I), a white-line candidate region that constitutes a parking space. An end-point position detection unit (40) detects both end points of a centerline (M) of the white-line candidate region, and then on the basis of the behavior of the vehicle (1) measured by a vehicle behavior measurement unit (50), an end-point movement position prediction unit (60) predicts the position to which the end points of the center line (M) will move. If a difference, found by an end-point movement amount determination section (70), between the positions of the predicted end points and the detected end points is greater than a prescribed value, the position of the detected end points is stored in an end-point position storage unit (80), and if the detected end points are within a prescribed distance from the position of the end points stored in the end-point position storage unit (80), a parking space detection unit (100) lowers the degree of contribution of the white-line candidate region that includes those end points, and thereby detects the parking space.