| 摘要 |
PROBLEM TO BE SOLVED: To enhance the accuracy of specifying of a vehicle by preventing generation of a mistake in edge extraction irrespective of the degree of brightness of a coating film of the vehicle in a vehicle grasping device to specify the vehicle in image data by the edge extraction in the image data acquired by an image pickup device. SOLUTION: The arrival of a vehicle is detected by a vehicle detector 1, and brightness information on the coating film of the vehicle is acquired with the detection timing by a vehicle brightness detector 2 and corresponding edge detection threshold is determined based on the brightness information by the vehicle grasping device. And, an image of the detected vehicle is picked up by the image pickup device 3, the edge extraction is performed for the image data acquired by image pickup in the edge detection threshold, and while identifying the vehicle, it is traced, and the running state of the vehicle is grasped.
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