| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that there is a method for deriving a parallax for an object of weak texture by aggregating not only a cost value of a reference pixel of interest on a reference image but also cost values of pixels around the reference pixel but a cost value on a road surface of weak texture may be affected by a cost value in a peripheral preceding vehicle or the like of strong texture, such that an accurate cost value cannot be derived.SOLUTION: In the case where a cost value C calculated by a cost calculation part 310 exceeds a threshold value Th, the cost calculation part 310 changes the cost value C exceeding the threshold value Th into a first predetermined value H higher than the threshold value Th. Thus, since the cost value C greater than the first predetermined value H is decreased to the first predetermined value H, a cost value in an object of weak texture can be made unlikely to be affected by a cost value in a peripheral object of strong texture. Therefore, there is an effect that the cost value can be derived more accurately. |
