Vorrichtung zur Beobachtung der Umgebung eines Fahrzeugs

摘要

The device has an extraction unit that subjects a gray scale image captured by cameras (2R, 2L) to binary thresholding method and extracts a binary object from the image. Another extraction unit extracts a gray scale object from the image based on the change in luminance. A search area is set by a determination unit, which recognizes a pedestrian in gray scale image based on luminance dispersion in the area.