| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To precisely estimate a road region on an image even when a road shape is not expressed with one plane, or even when the luminance distribution of the road region is largely changed. <P>SOLUTION: A first image and a second image are imaged in different positions and postures by an imaging apparatus 12. On the basis of the first image and the second image, the detection of a plane region including a road candidate region by a plane region detection part 36 and the detection of an identical region including the candidate region of a road by an identical region detection part 40 are repeatedly performed by using the detection results. A road region estimation part 42 estimates a road region based on the detection result obtained by detection repeatedly performed by the plane region detection part 36 and the detection result obtained by detection repeatedly performed by the identical region detection part 40. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
