| 摘要 |
PROBLEM TO BE SOLVED: To enhance ranging precision, in a range finder by a stereoscopic method mounted on a moving body such as a vehicle for alarming a collision, and constituted to find a distance up to an object sequentially, based on a parallax, by a distance measuring means, by finding the parallax between two imaging means by the first parallax detecting means, using the two imaging means. SOLUTION: A calibration part 21 is provided to have the second parallax detecting part 24 for searching a correspondence point with a sub-pixel or less of low velocity precision by a POC method, separately from a ranging part 11 having the first parallax detecting part 12 capable of searching quickly the correspondence point at a pixel unit by an SAD method, a parallax distribution computing part 25 detects the parallax in an infinitely distant point, from a parallax amount distribution found by the second parallax detecting part 24, a parallax correction amount calculating part 26 finds a deviation of the parallax in the infinitely distant point from a standard value, as a correction value, to be set in the ranging part 11. An optical axis shift is compensated by the calibration part 21 while conducting real time processing during travel, in the ranging part 11, so as to enhance the ranging precision. COPYRIGHT: (C)2009,JPO&INPIT
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