| 摘要 |
PROBLEM TO BE SOLVED: To provide an image processing apparatus which performs ranging using corresponding point search based on a stereoscopic image, and detects and recognizes an object in the image, while reducing the total processing load from corresponding point search to object recognition.SOLUTION: When an object (short-range object) is detected within a predetermined distance by object detection based on small-size image data, corresponding point search using a predetermined search range and corresponding point search using a search range modified from the predetermined search range are performed in object detection based on large-size image data. Only object detection can be performed based on the small-size image data, thereby reducing processing load as compared with a conventional case where a result of object recognition for a small-size image is used for object detection and object recognition based on a large-size image. |
