| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a distance measuring device which does not need other moving distance measuring means or the like as an essential requirement of a device structure by using a monocular image pick-up means as an external information acquisition means. <P>SOLUTION: This distance measuring device 100 essentially comprises: the monocular image pick-up means taking an external image; a space coordinate temporarily determination means 2 temporarily determining, based on a plurality of images with different pick-up times, a space coordinate Q on a three-dimensional space of an external fixed point taken on the images in an optional scale; a road surface equation temporary determination means 3 temporarily determining, based on the temporarily determined space coordinate Q of the fixed point, a plane equation of an approximate plane approximately showing a traveling road surface; a scale determination means 4 determining the scale, based on an attachment height h from the road surface of the image pick-up means 1 in a mobile body and the plane equation; and a space coordinate correction means 6 correcting the space coordinate Q based on this scale. <P>COPYRIGHT: (C)2007,JPO&INPIT |
