| 摘要 |
<p>PROBLEM TO BE SOLVED: To achieve the appropriate control of predetermined equipment mounted on a mobile body by appropriately identifying whether or not an object existing in the periphery of the mobile body is an object for control.SOLUTION: An object recognition part 205 detects a detection object such as another vehicle or a pedestrian existing in the periphery of a mobile body on the basis of a pickup image obtained by picking up the periphery of the mobile body. On the other hand, an object state determination part 207 specifies relative positions Dz, X of the detection object detected by the object recognition part to the mobile body on the basis of parallax information acquired from a pair of pickup images picked by a stereocamera, and specifies relative speeds Vx, Vy, Vz of the detection object to the mobile body from a difference between the image positions of the detection object between two or more pickup images (frames) whose pickup periods are different. An object recognition part 208 for control determines whether or not the specified relative positions and relative speeds satisfy the conditions of the relative positions and relative speeds as an object for control.</p> |
