Patent ID: 11889047
Assignee: SUBARU CORPORATION
Field: Audio-visual technology (Electrical engineering)
Classification: CPC H  G | IPC G  H

Claim 18:
19. An image processing device comprising
circuitry configured to
set a three-dimensional object region by detecting a three-dimensional object, on a basis of a distance image that is to be generated on a basis of a stereo image and includes parallax-related values corresponding to parallaxes in respective pixels,
set, into the distance image, a first image region that is same as the three-dimensional object region in size and position, a second image region including a left end of the first image region and partly overlapping the first image region, and a third image region including a right end of the first image region and partly overlapping the first image region,
calculate, in each of the first image region, the second image region, and the third image region, representative values of the parallax-related values including (i) a first representative value based on first parallax-related values corresponding to a first pixel column that includes pixels having a first horizontal coordinate in the distance image, and (ii) a second representative value based on second parallax-related values corresponding to a second pixel column that includes pixels having a second horizontal coordinate different from the first horizontal coordinate in the distance image,
calculate a first approximate line in the first image region based on the representative values in the first image region, a second approximate line in the second image region based on the representative values in the second image region, and a third approximate line in the third image region based on the representative values in the third image region,
estimate a continuous structure degree indicating a degree of likeliness of the three-dimensional object being a continuous structure, on a basis of a first slope value of the first approximate line of the first image region, a second slope value of the second approximate line of the second image region, and a third slope value of the third approximate line of the third image region, and
determine whether the three-dimensional object detected by the detector is a vehicle, on a basis of the continuous structure degree.