| 摘要 |
The disclosed device is provided with: a first edge image generation means (5) which generates a first edge image on the basis of luminance components of an imaged image acquired by a camera (2) which is in-built in a vehicle; a second edge image generation means (6) which generates a second edge image on the basis of the chroma components or the colour phase components of the imaged image; a composite edge image generation means (7) which generates a composite edge image formed by the combination of the first edge image and the second edge image; and an object classification identification means (8) which identifies whether or not the object is a prescribed kind of structure on the basis of the external shape of the object shown by the composite edge image. |
