| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle detection system and an obstacle detection method for calculating a correlation value by using a properly scaled template by estimating a distance to the candidate region of an obstacle, and tracking an already detected obstacle. SOLUTION: Image data imaged by a plurality of imaging apparatuses which image the periphery of a vehicle are acquired, and an obstacle in an image is detected. Image data imaged by the plurality of imaging apparatuses are binarized respectively, and candidate regions are specified on the basis of the binarized data, and distances to a representative point are estimated. The scale of a stored template is determined on the basis of the estimated distances, and correlation values are calculated on the basis of the template and the candidate regions. When the calculated correlation value is larger than a predetermined value, it is decided that the obstacle has been detected in the candidate region. COPYRIGHT: (C)2008,JPO&INPIT
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