Patent attributes
An image processor includes a boundary line detection portion configured to detect a boundary line by using an image in accordance with an image signal acquired by an imaging device, a parking frame detection portion configured to detect a parking frame by using the detected boundary line, an in-frame scanning portion configured to acquire a dividing point that divides a pair of facing sides of the boundary lines that define the parking frame and to scan the image through the dividing point to detect an edge, a storage portion configured to store a state of an edge and an attribute of the parking frame by linking them, and a determination portion configured to determine an attribute of the parking frame by using a state of the detected edge and the stored attribute of the parking frame that is linked to the state of the edge stored in the storage portion.
