| 摘要 |
PROBLEM TO BE SOLVED: To accurately obtain depth information such as unevenness of a building, even when an obstacle such as a human being and a parked vehicle exists in measurement of a distance, or even when a photographing vehicle meanders in the measurement. SOLUTION: A measuring part 1-S is mounted on the vehicle or the like, a moving distance from a start point of the measurement is measured, while moving, to be accumulated as the moving distance in an accumulation part 1-L. A distance along a direction perpendicular to a moving direction is measured while making synchronize with the moving distance to be accumulated as a perpendicular-directional depth information in an accumulation part 1-D. A perpendicular-directional image photographed by the same manner is accumulated in an accumulation part 1-G. An image correlating processing 1-3 conducts the accumulation of the moving distance, the perpendicular-directional depth information and the image twice or more while conforming the start points thereof, and the same body within the perpendicular- directional image is correlated in every combination by twice times out of the accumulated perpendicular-directional images. A depth information estimating part 1-4 estimates the depth information collectively based on the perpendicular-directional depth information accumulated twice or more and an image correlation result correlated hereinbefore.
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