| 摘要 |
<p>PROBLEM TO BE SOLVED: To detect an object existing on a road surface even when vibration during traveling is generated or inclination on the road surface itself exists without operating any calibration. SOLUTION: An obstacle detecting device 1 which detects an obstacle region on a road plane having plural lines is provided with two TV cameras 2a and 2b which photograph a read surface, a picture storing part 3 which stores right and left pictures photographed by the TV cameras 2b and 2a, a feature extracting part 4 which extracts plural lines expressed on the right and left pictures stored in the picture storing part 3, and which calculates corresponding points between the right and left pictures based on the extracted plural lines, a relational formula parameter calculating part 5 which calculates the parameter of a relational formula established between the projecting positions of arbitrary points of the road surface to the right and left pictures based on the corresponding points calculated by the feature extracting part 4, and a detecting part 6 which detects a region having height different from that of the road surface as an obstacle range based on the relational formula decided according to the parameter calculated by the relational formula parameter calculating part 5.</p> |
