| 摘要 |
Provided is an exterior environment recognition device including: a parallax deriving unit for obtaining parallax by means of the pattern matching; a position information deriving unit for deriving a relative distance from the parallax; a grouping unit for grouping a block of which difference of the relative distance is included within a predetermined range, and specifying specified objects; a specified object selection unit for selecting a specified object; an offset amount deriving unit for, when the relative distance of the selected specified object becomes less than a threshold value determined in advance, deriving an amount of offset in accordance with the relative distance; and an offset execution unit for offsetting the image by the amount of offset. When the amount of offset is not zero, the position information deriving unit limits deriving of the relative distance in an image other than an image range corresponding to the selected specified object.
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