| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicular pedestrian detection device efficiently deciding a pedestrian without being affected by information except a shape such as a pattern or a wrinkle of clothing of the pedestrian. SOLUTION: In this vehicular pedestrian detection device, a distance image creation means 12 creates a distance image F3 removed with information not needing analysis related to a luminance change, and a normalization means 13 and a deciding cell setting means 15 set a deciding cell S(n, m) of a smaller range than the distance image F3. A first distance gradient vector calculation means 16 and a first histogram creation means 17 create histogram data H1 necessary for pedestrian detection about a distance gradient vector V<SB>K</SB>of the deciding cell S(n, m) as a specific area corresponding to a shape of an object O. Because comparing the histogram data H1 with histogram reference data H0, the vehicular pedestrian detection device can decide the pedestrian in a state that the information not needing the analysis in the shape decision to speed up pedestrian decision processing and to prevent false detection. COPYRIGHT: (C)2011,JPO&INPIT
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