| 摘要 |
PROBLEM TO BE SOLVED: To provide a distance calculating device and a distance calculating method, capable of measuring a distance equal to or less than parallax resolution of a stereo camera and precisely measuring a relative distance to an object even when reliability of a picked-up image of each camera is deteriorated.SOLUTION: A distance calculating device comprises: a simple eye estimation distance calculating part 203 for calculating an estimated distance to an object on the basis of an image picked up by a camera 101; a stereo estimation distance calculating part 204 for calculating an estimated distance to the object on the basis of images picked up by at least two cameras 101 and 102; and an output distance calculating part 206 for calculating an output distance to the object. The output distance calculating part 206 calculates the output distance on the basis of the estimated distance calculated by the simple eye estimation distance calculating part 203, the estimated distance calculated by the stereo estimation distance calculating part 204, and the weight of both estimated distances determined in accordance with certainty factor of the stereo estimation distance calculating part 204 calculated on the basis of the images picked up by at least the two cameras 101 and 102. |
