DISTANCE CALCULATION DEVICE AND DISTANCE CALCULATION METHOD

摘要

In order to be able to measure a distance with disparity resolution of a stereo camera or less and precisely measure a relative distance to a target even in the event of decline in reliability of an image captured by each camera, a distance calculator includes a monocular estimated distance calculation section 203, a stereo estimated distance calculation section 204, and an output distance calculation section 206. The monocular estimated distance calculation section 203 calculates the estimated distance to the target based on an image captured by a camera 101. The stereo estimated distance calculation section 204 calculates the estimated distance to the target based on images captured by at least two cameras, i.e., the camera 101 and a camera 102. The output distance calculation section 206 calculates the distance to the target to be output. The output distance calculation section 206 calculates the distance to be output based not only on the estimated distances calculated by the monocular estimated distance calculation section 203 and the stereo estimated distance calculation section 204 but also on weights of the estimated distances. The weights are determined in accordance with a confidence of the stereo estimated distance calculation section 204. The confidence is calculated based on the images captured by at least the two cameras 101 and 102.