| 摘要 |
The present invention realizes a moving-object height determining apparatus capable of easily and favorably determining a height of a moving-object using a single image-capturing device. In a two-dimensional image G captured by one camera 1, a height calculation unit 24 carries out the following processing. The height calculation unit 24 regards one of representative points P1 and P2 as a standard point A having a standard height, and regards the other representative point as an assumption point B having a virtual height. The height calculation unit 24 corrects the standard point A to a comparative point a corresponding to the virtual height along a vertical axis T of a moving-object M1. The height calculation unit 24 obtains a fluctuation amount q of a distance d between two points in a real space between the comparative point a and the assumption point B during a period of a plurality of clocks. The height calculation unit 24 sets three or more height set values of the assumption point B and obtains the fluctuation q for each of the height set values. A relation between the standard point A and the assumption point B is reversed for the two representative points P1 and P2 to obtain the fluctuation q. When the fluctuation amount q is the smallest and a rate of the standard point to the moving amount falls within a constant value, the assumption height of the height set value is obtained as a relative height of a moving-object M2 of the assumption point B with respect to a moving-object M1 of the standard point A. |
