Image processing system, method, and apparatus specifying an object included in a captured image outside a vehicle

An image processing method comprising:

• acquiring a captured image of a vehicle outside;
• storing dictionary data to be referred to in specifying an object included in the captured image;
• specifying the object based on the dictionary data, the object being determined to be an unspecifiable object when the object cannot be specified based on the dictionary data;
• acquiring behavior information indicating a behavior state of the vehicle;
• based on the behavior information of the vehicle with respect to the unspecifiable object, classifying whether or not the vehicle needs to avoid the unspecifiable object based on whether the vehicle shows a behavior for (i) avoiding the unspecifiable object or (ii) passing through the unspecifiable object without avoiding the unspecifiable object;
• and
• creating dictionary data for the unspecifiable object based on image data of the unspecifiable object and a result of the classifying.

An image processing apparatus comprising:

• an image acquisition unit configured to acquire a captured image obtained by imaging a vehicle outside;
• a dictionary storage memory configured to store dictionary data to be referred to in specifying an object included in the captured image;
• and
• an information processing apparatus configured to
• acquire behavior information indicating a behavior state of the vehicle,
• specify the object based on the captured image and the dictionary data, the object being determined to be an unspecifiable object when the object cannot be specified based on the dictionary data,
• classify, using the behavior information, whether or not the vehicle needs to avoid the unspecifiable object based on whether the vehicle shows a behavior for (i) avoiding the unspecifiable object or (ii) passing through the unspecifiable object without avoiding the unspecifiable object, and
• create new dictionary data for the unspecifiable object based on a result of the classifying.