| 摘要 |
PROBLEM TO BE SOLVED: To provide a device with which a detection can be carried out regardless of the color of an object to become a detection target. SOLUTION: The image of a prescribed image pickup area is picked up by a wide angle distance measuring instrument 10 utilizing a conical mirror 20 while changing a focal distance, and a distance image is generated while defining a distance to an object projected at each of points in a reflected image as image data. On the basis of the comparison of a reference image composed of such a distance image and a present image, an object invading the field of vision is detected. Since the presence density of the object is calculated on the basis of distance information, the detection can be carried out regardless of the color of the object to become the detection target. |
