| 摘要 |
PROBLEM TO BE SOLVED: To fast detect an obstacle existing on a road surface with high accuracy even though stereo cameras are not corrected and even under a situation in which there are changes in vibrations during traveling and in slopes on a road surface by using the stereo cameras on a vehicle. SOLUTION: This obstacle detecting device consists of a plurality of uncorrected TV cameras inputting images, an image storing part 2 for storing a plurality of images inputted by the plurality of TV cameras, a characteristic extracting part 3 extracting a plurality of mutually parallel lines existing on a road surface, a parameter calculating part 4 calculating a relational expression established among projected positions to each image of an optional point on the road surface from the plurality of lines extracted by the part 3, and a detecting part 5 which uses the relational expression calculated by the part 4 and detects an object having height from the road surface. |
