| 摘要 |
PROBLEM TO BE SOLVED: To improve slope determination accuracy, to prevent malfunction of vehicle control.SOLUTION: Corresponding points between a pair of stereoscopic image data are detected by pattern matching. On the basis of a result of calculating deviation between coordinates of the detected corresponding points as a parallax, distance image data is generated by indicating a distance to the corresponding points on real space on the image. When regions obtained by dividing the distance image data into strips by vertical division lines are defined as vertical regions, a slope index value showing slope likelihood of a subject is calculated for each vertical region, on the basis of a distance distribution thereof. A vertical region regarded as a non-slope subject is selected on the basis of the index value. An object in the image is detected using the selected vertical region for detection, on the basis of the distance image data. Before object detection processing, slope determination is performed. |
