PARKING FRAME DETECTION DEVICE, PARKING FRAME DETECTION METHOD, PROGRAM, AND NON-TEMPORARY RECORDING MEDIUM

PROBLEM TO BE SOLVED: To provide an improved parking frame detection device, an improved parking frame detection method, an improved program, and an improved non-temporary recording medium for detecting a parking frame other than a solid line.SOLUTION: A parking frame detection device according to one aspect of the present disclosure comprises an image preprocessing unit and an image control unit. The image preprocessing unit performs bird's-eye view conversion of a first image captured by an imaging unit; and generates a second image. The image control unit votes an intermediate coordinate between a first edge pixel and a second edge pixel in the second image when the second edge pixel is included in a search area far from the first edge pixel by a predetermined distance in a direction perpendicular to a gradient direction of a pixel value of the first edge pixel; and detects a parking frame in the second image on the basis of a voting result of the second image.SELECTED DRAWING: Figure 1 【課題】実線以外の駐車枠を検出するための、改善された駐車枠検知装置、駐車枠検知方法、プログラム、および非一時的記録媒体を提供する。【解決手段】本開示の一態様に係る駐車枠検出装置は、撮像部が撮像した第１の画像を鳥瞰変換し、第２の画像を生成する画像前処理部と、第２の画像において、第１のエッジ画素から、第１のエッジ画素における画素値の勾配方向と垂直な方向に所定の距離だけ離れた探索領域に第２のエッジ画素が含まれるとき、第１のエッジ画素と第２のエッジ画素との中間座標に投票し、第２の画像における投票の結果に基づいて、第２の画像において駐車枠を検出する画像制御部と、を備える構成を採る。【選択図】図１