Extracurricular environment recognition device

摘要

Issue a pair light source.An outside vehicle environment recognition deviceImage acquisition section which acquires a plurality of luminance images picked up by different optical axes andA light source 184 is extracted from one of the first luminance images 180A of the plurality of luminance imagesA pair of light sources specifying a pair of light sources 186 corresponding to a pair of light sources from the positional relationship between the extracted light sourcesEquipped withA pair light source specifying sectionIf there is no pair in the first luminance image in the light sourceA light source is extracted from the second luminance image 180B of the plurality of luminance imagesA pair of light sources extracted from the first luminance image and a light source extracted from the second luminance image are used as a pair light source.Diagram