| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle detection device which allows simplification of processing for finding out an obstacle and can reduce the processing time and allows simplification of a hardware configuration.SOLUTION: A corresponding block in a second image, which has the same Y coordinate as a block in the lowest line of a first image and includes an object identical or similar to an object included in the block, is searched for the block in the lowest line of the first image by a parallax operation unit 21. Next, when corresponding blocks in the second image, which includes objects identical or similar to objects in blocks sequentially higher than the block in the first image for which the corresponding block has been searched, are searched, the corresponding blocks in the second image which have the same Y coordinates as the blocks in the first image and include objects identical or similar to objects included in the blocks in the first image within X coordinate setting ranges having, as centers, X coordinates of corresponding blocks in the second image which correspond to blocks for which the corresponding blocks have been searched, immediately lower than the blocks in the first image are searched. |
