| 摘要 |
PROBLEM TO BE SOLVED: To calculate an accurate approach angle of a vehicle to a road and output appropriate images of left and right sides of the vehicle.SOLUTION: The present invention includes: imaging means for taking images of left and right sides; first approach angle calculation means for calculating an approach angle of a vehicle on the basis of a vanishing point derived from the image of left and right sides taken by the imaging means for left and right sides; second approach angle calculation means for calculating an approach angle on the basis of driving directions of other vehicles driving on the road derived by optical flows from the images of left and right sides; third approach angle calculation means for calculating an approach angle on the basis of car navigation information from the images of left and right sides; approach angles comparison means for respectively determining whether tolerances of at least two approach angles among the calculated approach angles are within a prescribed range; and image segmentation means for cutting an output image out from the images of left and right sides on the basis of the approach angle when the approach angle comparison means determines that the tolerance is within a prescribed range. |
