| 摘要 |
<P>PROBLEM TO BE SOLVED: To surely detect an obstacle which has mostly approached on an expected moving locus of a moving object from the environment in the periphery of the moving object, without requiring an independent special obstacle detection sensor. <P>SOLUTION: This apparatus is provided with an environment information detecting means SR for detecting environment information such as the size or position of an object in the periphery of the moving object and storing the information, and a locus estimating means TR for estimating the expected moving locus of the moving object. A moving close range measuring means MC superimposes the expected moving locus on the environment information, specifies an obstacle existing on the expected moving locus of the moving object, and measures the shortest distance between the obstacle and the moving object on the expected moving locus. A notifying means DP notifies the positional relation between the moving object and the obstacle on the basis of a result of measurement by the means MC. The means SR estimates a three-dimensional coordinate on the basis of e.g. a state of the moving object when picking up at least two images while the moving object is moving and the image information. <P>COPYRIGHT: (C)2004,JPO |
