PARKING ASSISTANCE SYSTEM AND PARKING ASSISTANCE METHOD

A parking assistance system includes: a color/IR detector (22) which detects, from a camera image captured with a camera, marker candidates that are areas in each of which an intensity of a color component or an infrared (IR) component exceeds a threshold; a marker position calculator (10) which calculates positions of the marker candidates in the camera image; and a validity verifier (11) which determines whether the marker candidates are valid as the markers, based on the positions of the marker candidates and a predetermined positional relationship of the markers,