| 摘要 |
PROBLEM TO BE SOLVED: To provide a periphery monitoring device for a vehicle, capable of removing a stereoscopic object that cannot be an obstacle.SOLUTION: Cameras 11, 12 photograph the front of a vehicle with a stereo image from different viewpoints. A target detection unit 21 detects a target included in a pair of images photographed by the cameras 11 and 12. A target removal unit 22 removes, out of the detected targets, a target separated from other targets through a space with a reference width or more and having a reference height or more, from a detection result. A stereoscopic object determination unit 23 determines a stereoscopic object captured in the image, on the basis of the target in which unnecessary things are removed by the target removal unit 22. |
