| 摘要 |
PROBLEM TO BE SOLVED: To surely detect right and left corresponding pictures by a stereoscopic camera even when pitching is generated on a vehicle body only by retrieving a narrow band area along an epipolar line. SOLUTION: In the case of calculating the pitch angle θap of a vehicle body M by a pitch angle computing element 97, a synthetic value of an inclination value θh obtained from the low pass components Hr', Hf' of a pitch direction inclination value detected by vehicle heigth sensors 91, 92 and the high pass component θp' of a pitch value found out from a pitch rate detected by a pitch rate sensor 93 is calculated as the pitch angle θap (θap=θh+θp') of the vehicle body M and a correspondence processing means moves a small area for the correspondence of two pictures in the vertical direction of the pictures only by a distance corresponding to the calculated pitch angle θap. Even when a road surface is rugged or pitching is generated on the vehicle body M in accordance with number of persons getting on the vehicle or the like the corresponding object can surely be detected between plural pictures because the object exists in the vicinity of the epipolar line. |
