| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve performance of detecting the features of an object. <P>SOLUTION: In a step S52, among pixels within an ROI, pixels whose feature amount is larger than a predetermined threshold value are extracted as a feature point candidate. In a step S54, a feature point density parameter is set based on a distance to an object within the ROI. In steps S56 and S60, the feature points are extracted from the feature point candidates in the descending order of the feature amount, while the feature point candidates, whose distance from the extracted feature points is equal to or smaller than the feature point density parameter, are not extracted as the feature point. In a step S61, a feature point list representing the feature points extracted from the ROI is output. The present invention can be applied to an onboard obstacle detecting device. <P>COPYRIGHT: (C)2008,JPO&INPIT |
