IMAGE PROCESSING DEVICE AND MOVEMENT SUPPORT DEVICE

To determine presence or absence of an obstacle in a front space of a mobile body, by a simple constitution.SOLUTION: A movement support device 1 comprises an image processing device 10 which has an imaging unit 3 for capturing a stereo image of a front space, and an arithmetic device 5. The arithmetic device comprises: a position selection unit which selects a plurality of measuring points P0-P5 from the surface captured as the stereo image; a plane equation calculation unit which calculates a plurality of plane equations, on the basis of the three-dimensional space coordinates of the plurality of measuring points; and a determination unit which determines presence or absence of an obstacle in a front space, on the basis of the plurality of plane equations.SELECTED DRAWING: Figure 2 【課題】簡素な構成で、移動体の前方空間における障害物の有無を判定する。【解決手段】移動支援装置１は、前方空間のステレオ画像を撮像する撮像部３と、演算装置５とを有する画像処理装置１０を備える。演算装置は、ステレオ画像に撮像される面上から複数の計測点Ｐ０乃至Ｐ５を選択する位置選択部と、複数の計測点の３次元空間座標に基づいて、複数の平面方程式を算出する平面方程式算出部と、複数の平面方程式に基づいて、前方空間における障害物の有無を判定する判定部と、を備える。【選択図】図２