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对象化单元
The fine object removal unit 302 performs the noise removal process based on the labeled image data that has undergone projective transformation and the rectangular objects generated by the rectangle objectification unit 301.
The rectangle objectification unit 204 performs a process of giving circumscribed rectangles to the edge pixel regions to which the same label number is given based on the labeled image data, and thereby generates rectangular objects (see FIG. 8).
FIG. 8 is a diagram illustrating an example of rectangular objects generated by a rectangle objectification unit
图8为矩形对象化单元生成的矩形对象的示例的示意图;
FIG. 12 illustrates a configuration example of a noise removal processing unit of the parking lane candidate vehicle computation unit 106. The noise removal processing unit has a rectangle objectification unit 301, and a fine object removal unit 302. The rectangle objectification unit 301 performs a process of giving circumscribed rectangles to edge pixel regions to which the same label number is given based on labeled image data that has undergone projective transformation and thereby generates rectangular objects in the same manner as the rectangle objectification unit 204 (see FIG. 5) of the image processing unit 104 described above.
The labeled image data is supplied to the rectangle objectification unit 204 and the fine object removal unit 205.
标记图像数据提供给边缘标记单元204和精细对象消除单元205。
Further, the image processing unit may have an edge extraction unit configured to generate edge intensity image data by performing an edge extraction process on the captured image data, a quantization unit configured to generate edge image data by performing a quantization process on the edge intensity image data, an edge labeling unit configured to regard edge pixel regions having connectivity with the edge image data as a same region, to perform a process of giving a same label number to edge pixels of the same region, and to generate labeled image data, a first rectangle objectification unit configured to perform a process of giving a circumscribed rectangle to the edge pixel regions to which the same label number is given based on the labeled image data, and to generate a rectangular object, and a first fine object removal unit configured to perform a process on the edge image data to remove an edge pixel region having a small number of connected pixels and an edge pixel region in a rectangular object having short vertical and horizontal widths as noise based on the labeled image data and the rectangular object, and to generate output edge image data.
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