Patent attributes
An image processing device includes a sideline detector configured to detect sidelines of boundary lines of parking sections next to each other in a vehicle width direction by an edge detection process to an image, each of the sidelines being a pair of a rising edge and a falling edge, and to acquire an end point of each of the sidelines at which the pair is not detected, a rear-end edge identifying part configured to identify a rear-end edge of the parking section based on an end point away from the vehicle among the end points acquired by the sideline detector, and a parking frame setting portion configured to identify the parking section based on the two sidelines detected by the sideline detector and the rear-end edge identified by the rear-end edge identifying part, and to set a parking frame based on the parking section.
