| 摘要 |
PROBLEM TO BE SOLVED: To correct the positional deviation of a stereo camera, especially a parallax having an error caused by horizontal deviation. SOLUTION: The distance correction device of monitoring system for the outside of car has stereo cameras 1 and 2 obtaining a pair of picked up images by imaging a scene in front of drivers own-vehicle, a stereo arithmetic circuit 6 calculating parallax by stereo matching on the basis of the pair of image pickup images obtained by the cameras 1 and 2, a parallax calculated by the circuit 6 and a microcomputer 9. The microcomputer 9 calculates a distance up to an object on the basis of a parameter as a distance correction value. It also detects a traffic lane on a road reflected in an imaged picture. It also specifies the position of the traffic lane in the imaged picture plane. When left and right traffic lanes are detected on the road, it calculates approximate straight lines in the imaged picture plane about each of the left and right traffic lanes and also the vanishing point of the picked up picture from the intersection of the approximate straight lines. The system has a correcting means correcting a parameter on the basis of the calculated vanishing point. |
