| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an image processing device which can surely estimate a transform parameter to convert an image to another image by assuming that the image taken by an imaging device is a road plane even when a gradient of the road plane seen from a vehicle changes. <P>SOLUTION: An image input part 1 inputs stereo images which are images of a front view or rear view of a vehicle taken by two cameras provided on the both sides of the vehicle. An image accumulation part 2 accumulates the input images taken by the two cameras. An image convert part 3 converts the image taken by the left camera accumulated in the image accumulation part 2 using a transform parameter while assuming that the left image is a road plane. An image collation part 4 collates the transformed left image obtained from the image convert part 3 and the right image and outputs the transform parameter which collates best. A condition estimation part 5, a condition memory 6, and a condition prediction part 7 estimate an optimum value of the transform parameter to estimate the current road plane using the transform parameter obtained by the image collation part 4 as an input and using a Kalman filter. <P>COPYRIGHT: (C)2004,JPO |
