Abstract: An imaging abnormality diagnosis device includes one or more processors configured to: detect a lane line in an image of a road surface captured by a camera mounted on a vehicle; estimate a shape of a road on which the vehicle is traveling, based on an output of a detector mounted on the vehicle, the detector being other than the camera; and detect as a distorted area an area in the image where the shape of the road and a shape of the lane line do not coincide with each other.

Abstract: An image processing apparatus (12) has a processing device (122) for executing, on a first image (111w) captured by a first imaging device (11w) imaging a first imaging area and a second image (111t) captured by a second imaging device (11t) imaging a second imaging area, an image recognition processing for recognizing a target in the first image and the second image, the processing device executes the image recognition processing on a non-overlapped image part (113w) of the first image without executing it on a overlapped image part (112w) of the first image when the processing device executes the image recognition processing on the first image, the non-overlapped image part includes a non-overlapped area at which the first imaging area does not overlap with the second imaging area, the overlapped image part includes a overlapped area at which the first imaging area overlaps with the second imaging area.

Abstract: A road line detection device includes a processor configured to: calculate, for each pixel of an image acquired by a camera mounted on a vehicle, a confidence score that a road line is represented in the pixel, and a confidence score that another object is represented in the pixel; set a correction region in a range assumed to include a road line in the image during changing lanes; correct, for each pixel included in the correction region, the confidence score for a road line or the confidence score for another object in such a way that the confidence score for a road line is high relative to the confidence score for another object; and detect a road line from the image based on each pixel in which the confidence score for a road line is higher than the confidence score for another object.

Abstract: An image recognition apparatus is provided with: a divider configured to divide a frame image into a plurality of areas, wherein the frame image is obtained by imaging or capturing a scene outside through a window glass on which a wiper is mounted, from an interior of a moving body; a determinator configured to determine whether or not at least one of the wiper and an attached substance to the window glass appears, for each of the plurality of areas; an object detector configured to detect an object included in such an area of the plurality of areas that it is determined that the wiper and the attached substance do not appear; and a tracking device configured to track a tracking target, which is an object included in two or more frame images, on the basis of a detection result of the object detector.

Abstract: A division line detection device includes: a processor configured to detect a division line candidate pixel from an image acquired by a camera mounted on a vehicle, set first reliability for a division line candidate pixel whose value representing likelihood that a lane division line is represented is equal to or more than a predetermined threshold value; set second reliability lower than the first reliability for a division line candidate pixel whose value is less than the predetermined threshold value; correct to the first reliability, when a first predetermined number or more of the division line candidate pixels are located on a first scan line having one end at a vanishing point of the image, the second reliability of each division line candidate pixel on the first scan line; and detect a lane division line based on the division line candidate pixels having the first reliability.

Abstract: An imaging abnormality diagnosis device includes one or more processors configured to: detect a lane line in an image of a road surface captured by a camera mounted on a vehicle; estimate a shape of a road on which the vehicle is traveling, based on an output of a detector mounted on the vehicle, the detector being other than the camera; and detect as a distorted area an area in the image where the shape of the road and a shape of the lane line do not coincide with each other.

Abstract: A division line detection device includes: a processor configured to detect a division line candidate pixel from an image acquired by a camera mounted on a vehicle, set first reliability for a division line candidate pixel whose value representing likelihood that a lane division line is represented is equal to or more than a predetermined threshold value; set second reliability lower than the first reliability for a division line candidate pixel whose value is less than the predetermined threshold value; correct to the first reliability, when a first predetermined number or more of the division line candidate pixels are located on a first scan line having one end at a vanishing point of the image, the second reliability of each division line candidate pixel on the first scan line; and detect a lane division line based on the division line candidate pixels having the first reliability.

Abstract: A road line detection device includes a processor configured to: calculate, for each pixel of an image acquired by a camera mounted on a vehicle, a confidence score that a road line is represented in the pixel, and a confidence score that another object is represented in the pixel; set a correction region in a range assumed to include a road line in the image during changing lanes; correct, for each pixel included in the correction region, the confidence score for a road line or the confidence score for another object in such a way that the confidence score for a road line is high relative to the confidence score for another object; and detect a road line from the image based on each pixel in which the confidence score for a road line is higher than the confidence score for another object.

Abstract: An image processing apparatus (12) has a processing device (122) for executing, on a first image (111w) captured by a first imaging device (11w) imaging a first imaging area and a second image (111t) captured by a second imaging device (11t) imaging a second imaging area, an image recognition processing for recognizing a target in the first image and the second image, the processing device executes the image recognition processing on a non-overlapped image part (113w) of the first image without executing it on a overlapped image part (112w) of the first image when the processing device executes the image recognition processing on the first image, the non-overlapped image part includes a non-overlapped area at which the first imaging area does not overlap with the second imaging area, the overlapped image part includes a overlapped area at which the first imaging area overlaps with the second imaging area.

Abstract: An image recognition apparatus is provided with: a divider configured to divide a frame image into a plurality of areas, wherein the frame image is obtained by imaging or capturing a scene outside through a window glass on which a wiper is mounted, from an interior of a moving body; a determinator configured to determine whether or not at least one of the wiper and an attached substance to the window glass appears, for each of the plurality of areas; an object detector configured to detect an object included in such an area of the plurality of areas that it is determined that the wiper and the attached substance do not appear; and a tracking device configured to track a tracking target, which is an object included in two or more frame images, on the basis of a detection result of the object detector.