DISTANCE MEASURING APPARATUS, DISTANCE MEASURING METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To prevent erroneous measurement of a distance to an object.SOLUTION: A three-dimensional position calculation unit receives a first image picked up at a first position by a vehicle imaging device and a second image picked up at a second position different from the first position. The three-dimensional position calculation unit receives a moving amount of a vehicle between the first position and the second position from a moving amount detector of the vehicle, and calculates a three-dimensional position of a surrounding object on the basis of the first image, the second image, and the moving amount. A discrimination unit discriminates that the calculated three-dimensional position is an error if a deviation between a fourth position obtained by projecting a third position set based on the calculated three-dimensional position onto one of the first image and the second image and an object position in one of the first and second images is not less than a predetermined value. An output unit determines the calculated three-dimensional position as a distance measuring target if the calculated three-dimensional position is not discriminated as an error, and excludes the three-dimensional position from distance measuring targets if the three-dimensional position is discriminated as an error.