To use a restored image under appropriate situation.SOLUTION: A periphery monitoring device as one example of the present disclosure includes: an image acquisition part which acquires a photographed image obtained by photographing by a photographing part provided on a vehicle in a manner such as to photograph a region including a road surface at the periphery of the vehicle; and a restoration control part which, in a case where the photographed image includes a region where the photographed image has a region with contamination attributable to contamination of an optical system of the photographing part, controls whether or not to execute restoration processing of outputting a restored image restored from the photographed image so as to remove the region with the contamination in accordance with positional relation between the region with the contamination and a road surface region of the photographed image in which the road surface is reflected to thereby reproduce, in a pseudo manner, a state in which no contamination of the optical system of the photographing part is present.SELECTED DRAWING: Figure 6

    【課題】適切なシチュエーションで復元画像を利用する。【解決手段】本開示の一例としての周辺監視装置は、車両の周辺の路面を含む領域を撮像するように車両に設けられる撮像部により撮像される撮像画像を取得する画像取得部と、撮像画像が撮像部の光学系の汚れに起因する汚れ領域を含む場合に、撮像画像のうち路面が写った路面領域と、汚れ領域と、の位置関係に応じて、汚れ領域を除去することで撮像部の光学系の汚れが存在しない状態を疑似的に再現するように撮像画像から復元された復元画像を出力する復元処理を実行するか否かを制御する復元制御部と、を備える。【選択図】図6


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    Title :

    PERIPHERY MONITORING DEVICE AND PERIPHERY MONITORING PROGRAM


    Additional title:

    周辺監視装置および周辺監視プログラム


    Contributors:

    Publication date :

    2021-04-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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