| 摘要 |
There are provided an environment recognition device and an environment recognition method. The environment recognition device obtains luminances of a target portion in a detection area of a luminance image, assigns a color identifier to the target portion according to the luminances of the target portion, based on association between a color identifier and a luminance range retained in a data retaining unit, an groups target portions assigned one of one or more color identifiers associated with a same specific object, and of which position differences in the width direction and in the height direction are within a predetermined range, based on association between the color identifier and the luminance range retained in the data retaining unit.
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