A distance up to an object which is even an object, such as a black vehicle, whose reflected waves cannot be obtained is detected. An image processing device 200 performs determination processing, as to pixels of distance measuring point group data obtained in measurement made by a ToF system, which determines a condition (i): distance values of the pixels are identifiers which indicate that the distance values are not obtained; a condition (ii): distance values of reference background data corresponding to pixels being targeted for the determination processing are not the identifiers; and a condition (iii): distance values of neighboring pixels which neighbor determination target pixels are smaller than the distance values of the reference background data corresponding to the neighboring pixels, and when all of the conditions (i) to (iii) are satisfied, predetermined distance values are substituted for the distance values of the pixels being targeted for the determination.
IMAGE PROCESSING DEVICE, CONTROL PROGRAM, AND IMAGE PROCESSING METHOD
BILDVERARBEITUNGSVORRICHTUNG, STEUERPROGRAMM UND BILDVERARBEITUNGSVERFAHREN
DISPOSITIF DE TRAITEMENT D'IMAGE, PROGRAMME DE COMMANDE ET PROCÉDÉ DE TRAITEMENT D'IMAGE
2022-04-20
Patent
Electronic Resource
English
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