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1. (WO2017154389) IMAGE PROCESSING DEVICE, IMAGING DEVICE, MOBILE APPARATUS CONTROL SYSTEM, IMAGE PROCESSING METHOD, AND PROGRAM

Pub. No.:    WO/2017/154389    International Application No.:    PCT/JP2017/002393
Publication Date: Fri Sep 15 01:59:59 CEST 2017 International Filing Date: Wed Jan 25 00:59:59 CET 2017
IPC: G08G 1/16
B60R 21/00
G06T 7/00
Applicants: RICOH COMPANY, LTD.
株式会社リコー
MOTOHASHI, Naoki
本橋 直樹
Inventors: MOTOHASHI, Naoki
本橋 直樹
Title: IMAGE PROCESSING DEVICE, IMAGING DEVICE, MOBILE APPARATUS CONTROL SYSTEM, IMAGE PROCESSING METHOD, AND PROGRAM
Abstract:
An image processing device provided with: a generator for generating vertical direction distribution data showing the frequency distribution of a distance value in relation to a distance image in the vertical direction, from the distance image having a distance value that corresponds to the distance of the road surface in each of a plurality of captured images captured by a plurality of imaging units; an extractor for setting a search range that corresponds to prescribed reference points in the vertical direction distribution data, and extracting a plurality of pixels from the search range; and a detector for detecting the road surface on the basis of the plurality of extracted pixels.