ATTACHED MATTER DETECTOR AND ATTACHED MATTER DETECTING METHOD

To improve the accuracy of detecting attached matter.SOLUTION: An attached matter detector pertaining to an embodiment comprises a calculation unit, a determination unit and a setting unit. The calculation unit calculates, for each unit area composed of a prescribed number of pixels included in an imaged image, an area feature quantity based on the edge vector of each pixel. The determination unit temporarily determines the buried state of a camera due to attached matter on the basis of the area feature quantity, and also confirms the buried state as confirmed result when a prescribed confirmation condition is established in the past history of a prescribed number of temporary determinations including the latest one. When the ignition of a vehicle to which the camera is mounted is turned on, the setting unit sets a prescribed initial value to the temporary determination history immediately after ignition-on so that the establishment of the confirmation condition is expedited.SELECTED DRAWING: Figure 2 【課題】付着物の検出性能を向上させること。【解決手段】実施形態に係る付着物検出装置は、算出部と、判定部と、設定部とを備える。算出部は、撮像画像に含まれる所定数の画素からなる単位領域毎に、各画素のエッジベクトルに基づく領域特徴量を算出する。判定部は、上記領域特徴量に基づいて付着物によるカメラの埋もれ状態を仮判定するとともに、直近分を含む所定数の過去分の仮判定履歴において所定の確定条件が成立した場合に、該当する上記埋もれ状態を確定結果として確定させる。設定部は、上記カメラが搭載された車両がイグニッションオンされた場合に、かかるイグニッションオンの直後に、上記確定条件の成立が早まるように所定の初期値を上記仮判定履歴に設定する。【選択図】図２