OBSTACLE DETECTION DEVICE, OBSTACLE DETECTION SYSTEM, AND OBSTACLE DETECTION METHOD

摘要

PROBLEM TO BE SOLVED: To provide an obstacle detection device for detecting the obstacle of low contrast, and for preventing the detection of any unnecessary edge point as noise. SOLUTION: This obstacle detection device 3 for detecting an obstacle based on an image picked up by far infrared image pickup devices 1R and 1L is provided with a means for calculating the edge strength of each pixel based on the pixel value of each pixel configuring the pickup image obtained by picking up; a means for calculating the frequency distribution of the edge strength for each of a plurality of prescribed image sections; a threshold selection means for selecting a threshold for detecting the prescribed number of edge points equivalent to the outline of an obstacle for every prescribed image section based on the frequency distribution; an edge point detection means for detecting an edge point having a pixel value which is a threshold or more by comparing the pixel value of a pixel configuring the prescribed image section with a threshold selected in the prescribed image section; and a control part for performing processing for detecting an obstacle based on the edge point detected by the edge point detection means. COPYRIGHT: (C)2009,JPO&INPIT