| 摘要 |
PURPOSE:To obtain device capable of recognizing an obstacle existing in the front of a traveling route and its height position within a short time by using more simple operation. CONSTITUTION:Stereoscopic image (a right image PR and a left image PL) are obtained by picking up the front image of a traveling route by two cameras 11, 12. Conversion information between images determined based upon the relation of directions and positions of the right and left cameras 11, 12 is prepared in a conversion information storage means 110. Image converters 210 to 214 respectively obtain virtual right images IR0 to IR4 from the left image PL by defining respectively different reference faces. Image difference devices 310 to 314 finds out differences between respective virtual right images IR0 to IR4 and the real right image PR and output respective difference images DR0 to DR4. An obstacle recognizing device 400 recognizes an obstacle based upon the difference images DR0 to DR4, selects an obstacle image approximate to a prescribed reference pattern out of the difference images and recognizes a reference face position corresponding to the selected image as the height position of the obstacle. |
