| 摘要 |
PROBLEM TO BE SOLVED: To provide technology allowing accurate recognition whether an obstacle candidate in a photographic image of an onboard camera is an obstacle around one's own vehicle or a shadow by only processing the photographic image with a low-cost configuration. SOLUTION: The obstacle candidate is detected from the photographic image of a monocular camera 3 by a detection means 6a. It is recognized by a recognition means 6b whether the obstacle candidate is the shadow or the obstacle (another vehicle) from whether the inside of a characteristic of an image of the obstacle candidate is flat or not because the inside of the shadow projected onto a travel road is flat and solid, so that it can be accurately recognized whether the obstacle candidate in the photographic image of the monocular camera 3 is the obstacle (the other vehicle) around the own vehicle 1 or the shadow by only processing the photographic image. Additionally, because it is not necessary to load a costly measurement apparatus such as an onboard radar in the own vehicle 1, the configuration can be made low-cost to reduce cost. COPYRIGHT: (C)2011,JPO&INPIT
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