| 摘要 |
In a stereo-image recognition apparatus, pixel blocks having correlation with the brightness characteristics of target pixel blocks extracted from a reference image of a stereo image are specified in a comparative image so as to calculate parallaxes of the pixel blocks. Further, distance-data calculation pixel blocks whose distance data is to be calculated are extracted from the pixel blocks whose parallaxes are calculated, and parallaxes of the extracted distance-data calculation pixel blocks are calculated as distance data, thus monitoring vehicle surroundings. A brightness-determination-threshold setting unit variably sets a brightness determination threshold value on the basis of the distance distribution of the calculated distance data of the distance-data calculation pixel blocks so as to control the sensitivity to extract the distance-data calculation pixel blocks and to enhance the accuracy in monitoring vehicle surroundings.
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