| 摘要 |
PROBLEM TO BE SOLVED: To highly precisely detect a passage existing on the irregular ground from an input image.SOLUTION: On the basis of the data of an input image, a plurality of small regions each of which is given a passage candidate parameter indicating the height of the possibility of being a part of a passage region as passage estimation information necessary for estimating a passage region included in the input image are formed in the input image, and on the basis of the passage candidate parameter given to each of the plurality of small regions, the small regions whose possibility of being a part of the passage region is high are defined as passage candidate regions, and a region group which is highly likely to be the passage among region groups obtained by grouping the adjacent passage candidate regions is selected as a passage region included in the input image. |
