| 摘要 |
PURPOSE:To detect the height of even a moving body by converting the view point of one of two images picked up at the same time by two image pickup means which have different image pickup view points to the view point of the other image pickup means, and matching the image after the view point conversion to the image picked up by the other image pickup means. CONSTITUTION:Image pickup parts A201 and B202 are installed at the same height from a floor surface in the same direction while having their optical axes in parallel, and data on the image picked up by the image pickup part A201 is stored in a temporary image memory A203; and then its disappearance point (X, Y) is calculated and an image conversion part 206 converts the view point of the image picked up by A to B as to the area below a line in a lateral direction Y to obtain an image picked by image pickup part B202. The image A of the view point A is converted into an image C, which is stored in an image memory C207. A decision part 208 calculates the longitudinal edge intensity values of, for example, the images B and C and matches the both. Consequently, the position of a body at height can be detected. |
