| 摘要 |
PROBLEM TO BE SOLVED: To eliminate the reduction of distance measuring resolution in a long distance due to parallax that a picture element obtained through processing of a stereographic picture is set as a unit, and to improve the distance measuring resolution in a range from short distance to long distance. SOLUTION: A pair of pictures photographed by a stereoscopic camera 10 are processed by a stereo processing part 30 to calculate a distance of a city clock and obtain a correlation thereof every small area of the respective picture, and a stereo matching is performed to specify the corresponding small area and a displacement of the picture element (parallax) generating corresponding with a distance to an object is imaged as a distance data, thus generating a distance picture. Further, a recognition processing part 40 conducts stereo matching using both a reference picture and a comparison picture so as to obtain a parallax (sub pixel element) of one picture element or less, and a parallax that the picture element obtained from the distance picture is set as a unit is interpolated by a resolution of one picture element or less. Thus, the reduction of distance measuring resolution in a long distance can be eliminated and the accuracy of distance measurement in a range from short distance to long distance be also secured.
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