| 摘要 |
<p>PROBLEM TO BE SOLVED: To detect a moving object such as an ahead going vehicle without using the internal parameters of a camera. SOLUTION: The camera 12 is mounted on a room mirror 10 in a vehicle comparment so as to take pictures in the traveling direction of a vehicle, and a radar 16 for detecting the distance from the vehicle to the object is mounted on a front part of the vehicle, by the side of a license plate 16. Picture images I1 and I2 are taken by the camera at prescribed time intervals. When the value f of a performance function defined by the following formula is not more than a threshold, an object is determined to exist. [Formula 1] f=|(x1 -u1 )<2> +(y1 -v1 )<2> }/Z2<2> - (x2 -u2 )<2> +(y2 -v2 )<2> }Z1<2>|...(1) Here, (u1 , v1 ) and (u2 , v2 ) are the coordinates of vanishing points on the images I1 and I2, respectively, (x1 , y1 ) and (x2 , y2 ) are the coordinates of corresponding areas on the images I1 and I2, respectively, and Z1 and Z2 are distances detected by the radar.</p> |
