VEHICLE PERIPHERY MONITORING DEVICE, VEHICLE, VEHICLE PERIPHERY MONITORING PROGRAM, AND VEHICLE PERIPHERY MONITORING METHOD

摘要

A vehicle periphery monitoring device comprises a distance detecting means (20) for detecting the distance between cameras (2R, 2L) and an object, an object image extracting means (21) for extracting a first image portion of the object from the captured image of the camera (2R), a filtering means (23) for setting the edge width of the object narrower the smaller the assumed value of the width is and the longer the distance is on the basis of the assumed value of the width of the horizontal direction of a pedestrian and the distance between the camera (2R) and the object corresponding to the first image portion with respect to the captured image and performing filtering processing using a Gabor filter in which the object edge direction is set to the vertical direction, and an object type identifying means (24) for identifying whether or not the objet on the real space corresponding to the image portion is a pedestrian on the basis of the shape of the image portion extracted by the filtering processing. This enables the type of an object to be accurately identified on the basis of the shape of the contour of the image portion of the object extracted from the captured image of a camera.