| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an object inclination detector, capable of accurately detecting a ceiling surface, a road sign on an upslope, or the like, when it is imaged in a photographic image. <P>SOLUTION: The object inclination detector 1 comprises an imaging means 2 imaging the front of an own vehicle and outputting a pair of images having a luminance value pnij for each pixel; an image processing means 6 calculating, based on the luminance values pnij of pixels of the pair of taken images, a distance Lij in the real space for each pixel of at least one image T thereof; a three-dimensional object detection means 93 detecting a three-dimensional object S on the one image T by grouping, based on information of the distances Lij, pixels which exist above a road surface and can be regarded to image the same three-dimensional object; and an inclination calculation means 94 calculating a height-directional inclination e of the detected three-dimensional object S relative to the imaging direction of the imaging means 2 by calculating a change quantity of the distance data corresponding to the detected three-dimensional object S. <P>COPYRIGHT: (C)2008,JPO&INPIT |
