| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a distance estimation system that corrects a relative positional displacement quantity between image sensors of a stereo camera while being unsusceptible to a travel road environment, and a vehicle including the distance estimation system.SOLUTION: A distance estimation system 4 includes a stereo camera 3 including image sensors 3a and 3b, a stationary area discrimination unit 27 that discriminates a stationary area in which a stationary entity that is imaged exists, an image correction unit 41 that uses a correction map to correct a produced image, a parallax image creation unit 31 that creates a parallax image through stereo matching, a monocular motion stereo unit 29 that estimates the distance of the stationary area, a displacement quantity calculation unit 33 that calculates a positional displacement quantity between the image sensors, a correction map update unit 37 that updates the correction map on the basis of the positional displacement quantity, and a distance estimation unit 35 that estimates a distance to an object on the basis of the parallax image created using a corrected image.</p> |
