Vehicle surroundings monitoring apparatus

1. A vehicle surroundings monitoring apparatus that extracts a body present in the surroundings of a vehicle as an object, based on an image captured by an infrared imaging device, comprising:

a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image;

a horizontal edge detection device that detects a horizontal edge in the gray scale image;

a horizontal edge determination device that determines whether or not the horizontal edge detected by the horizontal edge detection device exists in a prescribed range from top end or bottom end of the binarized object extracted by the binarized object extraction device; and

an object type determination device that determines a type of object based on a determination result of the horizontal edge determination device.

2. The vehicle surroundings monitoring apparatus according to claim 1 , further comprising:

a pedestrian recognition device that recognizes pedestrians present in the surroundings of a vehicle based on the image, the pedestrian recognition device executing pedestrian recognition processing on the object when the object is determined to be something other than a manmade structure, or to be a pedestrian, by the object type determination device.

3. The vehicle surroundings monitoring apparatus according to claim 1 , further comprising:

a warning output device that outputs a warning directed to the object when the object is determined by the object type determination device to be something other than a manmade structure or to be a pedestrian.