| 摘要 |
<P>PROBLEM TO BE SOLVED: To detect an obstacle on the road surface highly accurately at high speed by using a stereo camera even in an image having low contrast. <P>SOLUTION: This device is equipped with image storage parts 103, 104 for receiving images from cameras 101, 102 and outputting them as an image L and an image R, an image conversion part 105 for converting an optional pixel in a road surface region of the image L into a corresponding pixel in the image R to thereby generate an image P, an image characteristic conversion part 106 for converting each image characteristic of the image L, the image R and the image P to generate a characteristic converted image L, a characteristic converted image R and a characteristic converted image P, a lane detection part 107 for detecting a running lane on the road from the image R, a similarity calculation part 108 for determining the similarity D between the characteristic converted image L and the characteristic converted image R in each of a plurality of processing regions set in the running lane, and the similarity P between the characteristic converted image L and the characteristic converted image P, and an obstacle determination part 109 for detecting the existence and the position of the obstacle from the difference between the similarity D and the similarity P. <P>COPYRIGHT: (C)2004,JPO |
