| 摘要 |
An obstacle region candidate point relating unit assumes that a pixel in an image corresponds to a point on a road surface, and associates pixels between images at two times on the basis of the amount of movement of a vehicle in question, a road plane, and a flow of the image estimated. When a pixel corresponds to a shadow of the vehicle in question or the moving object therearound appearing on the road surface, the ratio of intensities of the pixel values of the spectral images between two images should be approximately the same as the ratio of the spectral characteristics of the sunshine in the sun and the shade. Therefore, when the ratio of intensities is approximately the same as the ratio of the spectral characteristics, the obstacle determining unit does not determine that the pixel in question is a point corresponding to the obstacle. Only when the ratio of intensities is not approximately the same as the ratio of the spectral characteristics, the obstacle determining unit determines that the pixel in question is a point corresponding to the obstacle.
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