| 摘要 |
PURPOSE:To substantially raise detection accuracy by synthesizing detection edge components with the same azimuth difference in vertical and horizontal directions and obtaining an edge group forming a closed pattern, for instance, as sectional information on an object. CONSTITUTION:A camera 3 is moved in the horizontal direction to input a horizontal stereo visual picture, and the edge component in the vertical direction is extracted, and distance-decomposed on the basis of the azimuth difference in a stereo visual picture. In the same manner the camera 3 is shifted in the vertical direction to input the stereo visual picture in the vertical direction, and its edge component in the horizontal direction is extracted and distance- decomposed on the basis of the azimuth difference. Correspondence is given to edges with the same azimuth difference, and a set of edge components forming a closed pattern, for instance, are extracted as information showing a vertical section on the optical axis of the object. A set of the edge components expressing said section information are overlapped with respect to an original picture. Therefore, whether the detected section information is correct or not is tested.
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