| 摘要 |
PROBLEM TO BE SOLVED: To calculate height information about feature points extracted from an image picked up from one viewpoint and to calculate height information about feature points extracted from parts being dead zones for mutual viewpoints in a stereo view from two or more viewpoints. SOLUTION: A vehicle tracking device 10 preliminarily stores a table in which heights to a reference surface of feature points, which can be extracted in a position relating to each coordinate on an image, are associated with distances in a perpendicular direction to a reference line from orthogonal projections to the reference face of the feature points, and calculates a movement distance of a nearby feature point 8b placed in the vicinity of a height calculation object feature point 8a, as a movement distance of the height calculation object feature point 8a and calculates a difference between a distance in the perpendicular direction to the reference line before movement and that after movement at the same height by using a table relating to coordinates on the image before and after movement of the height calculation object feature point 8a and defines the same height as the movement distance, as the height of the height calculation object feature point 8a. COPYRIGHT: (C)2008,JPO&INPIT
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