Road obstacle detection device, road obstacle detection method and program

A road obstacle detection method comprising:

• an acquisition step of acquiring an image resulting from photographing a road;
• a detection step of detecting roadway edge lines from the image acquired in the acquisition step;
• an estimation step of estimating a road region in the image, based on the roadway edge lines detected in the detection step;
• a division step of dividing the image acquired in the acquisition step, into a plurality of local regions;
• a first derivation step of deriving, for each of the plurality of local regions, a probability that the local region is the road, such that the probability is higher as a ratio of the road region in the local region is higher;
• and
• a second derivation step of deriving a probability that a target local region is not a previously decided normal physical body, and deriving a probability that a road obstacle exists at the target local region, based on the derived probability that the target local region is not the normal physical body and a probability that a peripheral local region is the road, the peripheral local region being a local region at a periphery of the target local region, the probability that the peripheral local region is the road being derived in the first derivation step.

A program that causes a computer to execute:

• an acquisition step of acquiring an image resulting from photographing a road;
• a detection step of detecting roadway edge lines from the image acquired in the acquisition step;
• an estimation step of estimating a road region in the image, based on the roadway edge lines detected in the detection step;
• a division step of dividing the image acquired in the acquisition step, into a plurality of local regions;
• a first derivation step of deriving, for each of the plurality of local regions, a probability that the local region is the road, such that the probability is higher as a ratio of the road region in the local region is higher;
• and
• a second derivation step of deriving a probability that a target local region is not a previously decided normal physical body, and deriving a probability that a road obstacle exists at the target local region, based on the derived probability that the target local region is not the normal physical body and a probability that a peripheral local region is the road, the peripheral local region being a local region at a periphery of the target local region, the probability that the peripheral local region is the road being derived in the first derivation step.