| 摘要 |
A distance measuring device (1) is included of a feature point detecting element (31) for detecting a set of feature points from a plurality of images (2) picked up at a plurality of places (a, b) by a pickup element, a change detecting element (33) for detecting relative changes among images with respect to the detected set of the feature points, and a first specifying element (8) for specifying rotation quantities of the image pickup element among the places in accordance with the detected changes. Here, the feature point detecting element detects a set of points (P1, P2, P3, P4) composing lines (310, 320) that belong to a stationary object and that are substantially perpendicular to the optical axis of the image pickup element as a set of feature points. |
