DEVICE OF DETECTING MOBILE OBJECT

摘要

PROBLEM TO BE SOLVED: To provide a mobile object detection device capable of detecting individual mobile objects even when a plurality of mobile objects exist adjacently.

SOLUTION: A mobile object distance image TDeI is generated by extracting pixels corresponding to the distance (mobile object distance) up to the mobile object from an edge image EI obtained by extracting pixels in which the luminance of a reference image BI has changed by a greater extent than a prescribed level. A contour extraction area T is set in the mobile object distance image TDeI by using a position on which a histogram obtained by accumulating the number of pixels in the mobile object distance image TDeI becomes maximum as a center line. The center line CL of the contour extraction area T is corrected on the basis of the edge image EI, and the contour of the mobile object in the corrected contour extraction area CT is extracted to detect the mobile object.

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