| 摘要 |
PROBLEM TO BE SOLVED: To precisely identify a three-dimensional object without an influence of image distortion, even if image conversion is made, in an image-processing device which processes images around a vehicle. SOLUTION: Edges are extracted in top view images which are converted from images photographed at some time intervals, and the straight line parameters (a tiltθ, an intercept b) of each edge element are casted on theθ-b plane which is a casting space, and the movement of noteworthy areas having high casting frequency values is observed in time sequence. The noteworthy areas Gr1 and Gr2, which move in time sequence, are determined to belong to a three-dimensional object, and the noteworthy areas Gh1 and Gh2, which do not move, are determined to belong to a plane such as a road surface. COPYRIGHT: (C)2009,JPO&INPIT
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