ENVIRONMENT RECOGNITION DEVICE, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide an environment recognition device, and a program capable of improving accuracy of environment recognition.

SOLUTION: An image obtained by imaging an object is divided into areas with high possibility of being the same object on the basis of lightness information. Distance information of pixels other than feature points is complemented on the basis of the distance information about pixels to be a plurality of the feature points existing in the same divided area to generate a range image. Size of a window for extracting a feature quantity is changed on the basis of the distance information about a pixel of interest. The feature quantity of the pixel of the interest is extracted from the pixels in the window. Objects are identified for each pixel by comparing the extracted feature quantity with a preliminarily calculated feature quantity by every object. Identification results of the pixels in the divided areas are integrated, and the objects are identified for each divided area to perform environment recognition.

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