| 摘要 |
PROBLEM TO BE SOLVED: To detect obstacles such as preceding vehicles and pedestrians with high accuracy even under situations that reflection of the obstacles and surrounding environment is caused on the road surface in a state in which the road surface is wet as in the case of rainy weather. SOLUTION: This obstacle detector is constituted of an image input part 12 to input image from two cameras, an image converting part 14 to convert an image by a camera 1 by image conversion T to convert a pixel point in a road surface area of the image by the camera 1 into the one corresponding to an image by a camera 2, a lane detecting part 16 to detect a traveling lane on a road from characteristics of the image to be obtained from a camera 2, a similarity calculating part 18 to set a processing area to perform inter-image arithmetic operations between the image by the camera 1 and the image by the camera 2, between the image by the camera 2 and the converted image in an image line of the area in the lane by supposing that the obstacles are grounded on the road surface and to calculate similarity between the image by the camera 1 and the image by the camera 2 and similarity between the image by the camera 2 and the converted image respectively and an obstacle judging part 20 to detect the obstacles from difference between two kinds of similarity on a road area to be calculated by the similarity calculating part 18. |
