Object type determination apparatus, vehicle, object type determination method, and program for determining object type

Abstract

An object type determination apparatus, an object type determination method, a vehicle, and a program for determining an object type, capable of accurately determining the type of the object by appropriately determining periodicity in movement of the object from images, are provided. The object type determination apparatus includes an object area extracting means () for extracting an area of an object from an image picked up by an image pick-up means (R,L), an object end point extracting means () for extracting an end point of an image portion of the object from the extracted object area, an object periodicity determination means () for calculating time series data of a feature value representing a size of the object using the end point of the image portion of the object extracted by the object end point extracting means () from the area of the object extracted by the object area extracting means () for respective ones of time series images picked up by the image pick-up means (R,L) to determine whether the feature value changes with prescribed periodicity, and a living body determination means () for determining the object having the feature value determined to change with periodicity as a living body.