| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an object discriminating device capable of discriminating correctly by sorting out road surface and solid object through local information. <P>SOLUTION: By shooting an object with cameras 10R and 10L from the different view point a pair of left and right images with parallax is acquired. A checking means 14 calculates parallax at corresponding points in each left and right image. A stereo/road surface discriminating means 16 votes information about the parallax point the parallax is calculated to each block of the parallax map a plurality of blocks are set in array, determined so as to fit one side to parallax and another side to position of transversal direction of image, respectively, and to increase both the side corresponding to parallax and the side corresponding to position of transversal direction with increasing parallax, to update the height and the pitch angle of the cameras based on information of the block in close range. A longitudinal curvature is updated based on information of the updated height and pitch angle of cameras and the long-distance map, and then whether stereo or road surface can be discriminated, based on an equation showing the road geometry determined from the updated height and pitch angle of cameras and the updated longitudinal curvature. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
