| 摘要 |
Provided is a vehicle periphery monitoring device including an image processing target area setting portion (21) configured to set an image processing target area which may include an image portion of a monitoring object in the captured image on the basis of a distance detected by a radar between object and a vehicle; a directivity extracting portion (22) configured to perform a directivity extraction processing which performs a differential filtering on each of pixels in the image processing target area in a predefined direction to extract a directivity for emphasizing a contour; an image processing target area correcting portion configured to extract a feature region having a feature amount of a pedestrian's head and to correct a range of the image processing target area on the basis of a position of the feature region; a contour extracting portion (24) configured to extract a contour of the image portion included in the corrected image processing target area; and an object type discriminating portion (25) configured to discriminate a type of the monitoring object in a real space corresponding to the image portion from which the contour has been extracted by the contour extracting portion on the basis of the extracted contour. According thereto, the throughput needed to perform the contour extraction processing on the monitoring object included in the captured image can be reduced, and thereby, to reduce the time required for extracting the contour. |
