Vanishing point calculator

1 . A vanishing point calculator comprising:

a controller connected to an imaging device configured to image in a vehicle traveling direction; and

a storage device connected to the controller, wherein the controller is configured to:

input an image imaged by the imaging device;

extract positions of feature points from the image;

store the positions of feature points related to a stationary object including a line segment parallel to a road among the extracted feature points in the storage device for each image;

overlap the feature points in a predetermined number of the images stored in the storage device based on the positions of the feature points;

calculate a position of a vanishing point in the image imaged by the imaging device based on a line segment obtained by the overlapped feature points;

obtain edge strength as the feature points;

acquire a local maximum point of the edge strength as a rising edge point;

acquire a local minimum point of the edge strength as a falling edge point;

store a position of the rising edge point and a position of the falling edge point in the storage device for each image; and

overlap the rising edge points based on positions of the rising edge points, and overlap the falling edge points based on positions of the falling edge points, in a predetermined number of images stored in the storage device.