| 摘要 |
PURPOSE:To make it possible to perform high-degree image recognition by enhancing the spatial resolution of a distance distribution when a distance is measured by a stereoscopic image. CONSTITUTION:When an object outside a set range outside a vehicle is image-sensed by a stereoscopic optical system 10, a city-block distance used to decide a deviation amount between a right image and a left image is computed by a small-region-distance-image generation device 20a with reference to the right image and the left image which have been image- sensed, and a minimum value is detected. Then, it is checked whether the minimum value indicates the coincidence between a right small region and a left small region or not, and the deviation amount in the unit of a small region is decided. The decided deviation amount in the unit of the small region is read by an inside-small-region matching device 20b, a picture element whose brightness is nearly identical is searched on the same line inside the small region of the corresponding left image with reference to a picture element inside the small region of the right image. Then, it is found how much the picture element is deviated with reference to the picture element in the small region of the right image. After that, the found deviation amount is added to the deviation amount in the unit of the small region, and the deviation amount in the unit of the small region can be found. Thereby, the spatial resolution of a distance distribution is enhanced, and the high-degree image recognition can be made possible. |
