| 摘要 |
PROBLEM TO BE SOLVED: To provide a pedestrian recognizing device capable of appropriately recognizing a pedestrian. SOLUTION: A pedestrian detection establishing part 23 determines whether a pedestrian candidate is the pedestrian or not in response to a determination result whether the luminance value of the pedestrian candidate in image data of a visible image is not more than a prescribed threshold or not, when the illuminance of a field at the outside of a self vehicle is less than a prescribed illuminance value. When the illuminance of the field at the outside of the self vehicle is not less than the prescribed illuminance, the pedestrian detection establishing part 23 extracts regions including the pedestrian candidate in the image data of the visible image and the image data of an infrared image, detects an edge with the pedestrian candidate as an object in each region, determines whether or not a difference between the edges of the respective kinds of image data is not more than a prescribed threshold, determines whether the area of the region constituted by pixels having color information of the same color is less than a prescribed area or not, based on the color information of the region including the pedestrian candidate extracted in the image data of the visible image, and then, finally determines whether the pedestrian candidate is the pedestrian or not. COPYRIGHT: (C)2008,JPO&INPIT
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