Patent Document ID: 10027953
Application ID: 14662777
Patent Status: 1

Claim One:
1. A determination method executed by a computer, the determination method comprising: acquiring images from an imaging device mounted on a vehicle, and storing the acquired images and speed data and acceleration data of the vehicle associated with each of the acquired images in a storing unit; acquiring a traveling-straight image from the images stored in the storing unit that is acquired while the vehicle is traveling straight, based on the speed data and the acceleration data of the vehicle stored in the storing unit; performing a filter on the traveling-straight image to generate an edge image data, and extracting a plurality of lines from a left part of the edge image data by performing a Hough transform thereon, and from a right part of the edge image data by performing a Hough transform thereon; counting a number of the extracted lines that go in an upper right direction from a left area or in an upper left direction from a right area on the edge image data; determining whether a vanishing point is detected on the traveling-straight image, based on the counted number; and determining normality of an imaging direction of the imaging device in accordance with whether the vanishing point is detected or not.