| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an apparatus for monitoring outside a vehicle capable of detecting a series of three-dimensional objects configuring a boundary of a road even when the road is curved. <P>SOLUTION: A recognition processing use computer 30 reads a distance image form a image processor 20, creates a histogram by each section resulting from sectioning the distance image at a prescribed interval to obtain a present position of the three-dimensional objects and its distance and groups the results and classifies them into a group of the three-dimensional objects and a group of side walls. apparatus for supervising outside vehicle. Then the computer 30 detects positions of wall faces configuring the border of the road on the basis of data of the group of the side walls and dynamically decides/corrects the position of each node point configuring the wall face model so as to be able to detect the wall face along a curved road even when the road is curved. <P>COPYRIGHT: (C)2003,JPO |
