| 摘要 |
PROBLEM TO BE SOLVED: To solve the problems wherein, since ranging by an infrared stereo camera has little texture information in an environment having a small quantity of infrared rays or in an object having a low refractive index of infrared rays to thereby lower ranging accuracy, in the case of an object having a large quantity of visible light and a high refractive index of visible rays, the texture information is increased by using a visible light stereo camera, to thereby enable highly accurate ranging, on the other hand, in the case of an object having a large quantity of infrared rays and a high refractive index of infrared rays, which is an object having a small quantity of visible light and a low refractive index of visible rays, the reverse state appears. SOLUTION: Both the infrared stereo camera 3 and the visible light stereo camera 5 are provided, and the two cameras are switched corresponding to a peripheral quantity of light or a coincidence degree evaluation value of correlation operation, to thereby reduce dispersion of ranging accuracy caused by a change of the peripheral quantity of light. COPYRIGHT: (C)2009,JPO&INPIT
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