A vehicle exterior environment recognition device (120) capable of detecting pedestrians accurately and rapidly includes a three-dimensional position deriving module (162) that derives three-dimensional positions of subject parts in a real space based on an image obtained by imaging a detection area, an object identifying module (164) that groups the subject parts of which differences in the three-dimensional positions are within a predetermined range to identify an object, a positional point deriving module (166) that derives a positional point based on positional information of the object, an appearance point deriving module (168) that derives an appearance point based on appearance information of the object, and a pedestrian identifying module (172) that identifies the object to be a pedestrian when a pedestrian point that is obtained by at least adding the positional point to the appearance point equals to or greater than a predetermined threshold.
VEHICLE EXTERNAL ENVIRONMENT RECOGNITION DEVICE
2015-04-15
Patent
Electronic Resource
English