| 摘要 |
PROBLEM TO BE SOLVED: To provide a three-dimensional object determination device capable of highly accurately determining a three-dimensional object, without erroneously determining a shadow as the three-dimensional object.SOLUTION: An image processing device 10 for a vehicle includes: a motion vector detection part 21 for detecting a motion vector from an image; a rotational component calculation part 22 for calculating a rotational component of the detected motion vector; a rotation correction part 23 for performing rotation correction on the detected motion vector on the basis of the calculated rotational component, and calculating a relative translation component with a scale factor of the motion vector on which the rotation correction has been performed; a dispersion calculation part 24 for calculating a reciprocal of the relative translation component with the scale factor, and calculating dispersion of the reciprocal of the relative translation component; and a determination part 25 for determining whether or not an object is a three-dimensional object, on the basis of the calculated dispersion. |
