| 摘要 |
An obstacle region candidate point correspondence unit assumes that a pixel in an image corresponds to a point on a road surface, and performs pixel association between images for two separate times on the basis of estimations of an amount of car movement, a road surface, and an image flow. If a pixel corresponds to a shadow of one's car or a surrounding moving object as it appears on a street surface, the intensity ratio between spectroscopic images for the two images should approximately match the ratio of the spectroscopic properties of sunshine in the sunlight and the shade, and therefore the obstacle determination unit does not determine that the pixel is a point corresponding to an obstacle if these ratios match, and only determines that the pixel is a point corresponding to an obstacle if these ratios do not match. |
