Image processing device

Abstract

The present invention provides an image processing apparatus capable of appropriately setting an image region. The image processing apparatus according to one embodiment of the present invention includes a representative distance calculation unit that generates a plurality of representative distance values based on a distance image generated from a stereoscopic image, and a combination processing unit that can perform combination processing of combining first and second image regions separated from each other, performs determination processing of determining whether images of the sides of other vehicles are included in both the first and second image regions, and performs combination processing when images of the sides of other vehicles are included in both the first and second image regions. The combination processing unit performs processing determination based on a plurality of first representative distance values corresponding to a plurality of pixel columns belonging to the first image region, a plurality of second representative distance values corresponding to a plurality of pixel columns belonging to the second image region, and pixel distance values of respective pixels between the first and second image regions among the distance values of respective pixels in the distance image.

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