| 摘要 |
A stereo camera inputs a first image and a second image each including a predetermined plane. An image conversion unit projects each pixel of the predetermined plane from the first image onto a corresponding pixel of the second image as a third image. A feature conversion unit respectively emphasizes edges included in the first image, the second image and third image. A similarity calculation unit sets a plurality of areas on the predetermined plane from the second feature conversion image, calculates a first similarity between each area of the second feature conversion image and a corresponding area of the first feature conversion image, and calculates a second similarity between each area of the second feature conversion image and a corresponding area of the third feature conversion image. An obstacle decision unit detects an obstacle based on the first similarity and the second similarity.
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