FIELD: physics.
SUBSTANCE: apparatus comprises: modules for detecting three-dimensional (3D) objects based on information on images of the back part of a vehicle from a camera, a module for evaluating natural objects for determining if a detected 3D object is a natural object, including roadside hedgerows or snow, based on an irregularity estimate calculated based on a number of first pixels for first pixels which represent a first predetermined difference in a difference image containing the detected 3D object, and a number of second pixels for second pixels corresponding to the 3D object and representing a second predetermined difference greater than the first predetermined difference, and a control module for controlling different processes. The control module inhibits the evaluation that a detected 3D object is another vehicle when the detected 3D object is evaluated using the module for evaluating natural objects as a natural object.
EFFECT: higher accuracy of evaluating natural 3D objects.
26 cl, 30 dwg
