| 摘要 |
<P>PROBLEM TO BE SOLVED: To accurately detect both objects even if a tall object is imaged behind a short object. <P>SOLUTION: A distance distribution generating section 4 generates a histogram of distance values existing in a plurality of the segments set on a distance image, selects a plurality of the distance values having appearance frequencies of a predetermined threshold value or more in the same segment as distance representative values representing the distance values in the segment, and identifies them in each segment. An object detecting section 5 considers the adjacent distance representative value as the same object, groups them, and detects the object to be detected in a processing space defined by the segment and the distance. <P>COPYRIGHT: (C)2008,JPO&INPIT |
