| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve accuracy of identifying an object. <P>SOLUTION: An environment recognition device 130 provisionally determines a specific object corresponding to a target portion from luminance of the target portion (S302), groups, as a target object, adjacent target portions provisionally determined to correspond to a same specific object (S304), derives a representative distance that is a representative value of the relative distance of the target portions in the target object (S306), and groups, as the target object, the target portions in which a difference in horizontal distance from the target object and a difference in height from the target object fall within a first predetermined range, and a difference between the relative distance and the representative distance of target portions falls within a second predetermined range, and which correspond to the same specific object with respect to the target object and the luminance (S308). <P>COPYRIGHT: (C)2013,JPO&INPIT |
