| 摘要 |
An obstruction detecting apparatus includes a camera (12) capturing a surrounding of a vehicle (30), a projective transformation means (T) projection-transforming one frame of captured images, captured by means of the camera (12), respectively on at least two imaginary planes (S), so as to generate transformed images, viewed downwardly from an above viewpoint, the imaginary planes (S) having a first imaginary plane (S1) being set at the same level as a road surface and/or at least one second imaginary plane (S2, S3, S4) being set at a different level from the road surface to be in parallel with the road surface, and a three-dimensional object area extracting means (4) extracting image areas from the transformed images, and extracting an area, at which the image areas overlap when the transformed images are superimposed, and which extends along a radially outward direction from an optical center (C), as a three-dimensional object area, at which an image of a three-dimensional object exists. |
