Patent attributes
An image processing device is equipped with a marker detector, an oblique line detector, and a parking frame detector. The marker detector extracts, from an image, positive and negative edge segments that are aligned next to each other at a predetermined interval as a pair, and detects a parking space division marker based on the pair. The oblique line detector detects an edge on one side of an edge segment (single-edge segment) that is not extracted as the pair, and detects a presumed straight line based on the single-edge segment connected with an oblique line. The parking frame detector detects neighboring edge segments based on the positive and negative edge segments as well as the single-edge segment of the presumed straight line, and detects a parking space based on a distance between the neighboring edge segments.
