| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an image processing apparatus and a method to realize at a high speed stable detection of an obstacle by focusing on difference of distributions of motion parallax of a road surface and the obstacle by using one TV camera. <P>SOLUTION: A time-series image is retrieved by an image input portion 10. In a possible region pursuing portion 1, a possible obstacle region is pursued at a high speed by extracting a line in a specific direction, setting a possible obstacle region around the line, and pursuing periphery of the line extracted in every frame. In a plane assumption verification portion 3 by using a result of pursuing a set of possible regions wherein one set is composed of three or more possible regions, it is judged that to which of a plurality of planes set in advance the possible regions belong. In an obstacle detection portion 4, an obstacle is detected and the position is estimated based on a result of the plane assumption verification portion 3. <P>COPYRIGHT: (C)2004,JPO |
