STEREO CAMERA APPARATUS, MOBILE OBJECT CONTROL SYSTEM, MOBILE OBJECT, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To ensure the reliability and safety of processing to use stereo images in a stereo camera apparatus having a function to correct positional deviations of a stereo camera and of other actions after the correction.SOLUTION: An image correction processor 20 corrects with a buffer memory 22 any positional deviation of each set of stereo image data shot with a stereo camera 10, and feeds the corrected data to later stages. A camera anomaly detection processor 60 detects from stereo image data any positional deviation of the stereo camera 10 and, if the extent of positional deviation surpasses the range that can be covered by the buffer memory 22, determines that the stereo camera 10 is abnormal and notifies a stereo camera processor 50 and an anomaly output unit 70 of the determination. Upon receiving the notification of camera anomaly, the stereo camera processor 50 temporarily suspends stereo camera processing. As a result, control operation by a vehicle controller 80 is also temporarily suspended.