JPH07306037A - Solid object region detector, measuring instrument of distance to solid object region, and their detection and measurement method - Google Patents

Abstract

PURPOSE:To simply extract a solid object region with a less amount of operation without using a coordinate table by providing an depression angle detection means for detecting the depression angle of a stereo image pick-up means for a road surface. CONSTITUTION:A stereo image pick-up means 2 consists of two image pick-up means 21 and 22 placed at a traveling body such as a vehicle. A depression angle detection means 5 detects the depression angle of the image pick-up means 2 for a road surface. A road surface parallax operation means 6 calculates parallax Rs on an image screen from the depression angle. A visual difference adjustment image creation means 9 shifts an image in a vertical direction at each scanning so that a parallax Rs can be canceled in the image of the image pick-up means 21. A difference image creation means 10 calculates the difference between the adjustment image and the image of an image pick-up means 22 and creates a differential image. A solid object region detection means 11 detects a solid object region from the differential image. In this manner, a differential image is created using the parallax Rs and a solid object region can be extracted efficiently.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional object area detecting apparatus and its detecting method, and more particularly to a distance measuring apparatus to the three-dimensional object area and its measuring method, and more particularly to a moving body such as a vehicle. In the image processing in the image processing, when detecting the distance distribution of the object in front and the traveling path, the calculation amount is reduced and at the same time the three-dimensional object area detection device and the distance measurement to the three-dimensional object area can be detected with high accuracy It relates to the device.

[0002]

2. Description of the Related Art Conventionally, there has been known a method of performing image processing from a stereo image and extracting a three-dimensional object region for the safe traveling of a moving body such as a vehicle or for the purpose of unmanned or automatic traveling of a moving body such as a vehicle. Has been. In such known method,
For example, by calculating the road plane equation, one of the images (first
Image) is projected onto the road plane and then projected onto the position of the other image (second image).
Image), and the road surface is made to match in the second and third images.

Then, a difference image is created from the second image and the third image, the image portion relating to the road surface is erased, and the last remaining area having the difference amount is extracted as a three-dimensional object area. It is something that I have done. In this projection conversion method, a coordinate conversion table is created in advance,
This is realized by arranging each data of one image (first image) at the coordinates stored in this table, or by executing such projection conversion processing by calculation.

[0004]

However, in such a conventional method, a predetermined memory is required to store the coordinate conversion table, and the coordinates for changing the road surface equation are required. If a conversion table is prepared, a large amount of memory will be required, leading to an increase in cost.

On the other hand, when such coordinate conversion is performed by calculation, the amount of calculation becomes very large, resulting in a decrease in calculation processing efficiency or calculation processing capacity. The object of the present invention is to improve the above-mentioned drawbacks of the prior art, and to realize a solid object area detecting device or a solid object area that easily realizes extraction processing of a solid object area with a small amount of calculation without using a coordinate table. A distance measuring device is provided.

[0006]

In order to achieve the above-mentioned object, the present invention adopts the technical constitution as described below. That is, as a first aspect of the present invention, it is composed of two image pickup means mounted on a moving body, and the respective pickup means are arranged in parallel with each other and in parallel with a road surface, and Of course, they are arranged at a predetermined interval from each other so that a predetermined parallax occurs between the images obtained by the respective image pickup means, and the scanning line direction of the images is
Stereo image capturing means configured to match the parallax generation direction, depression angle detecting means for detecting a depression angle of the stereo image capturing means with respect to a road surface, and road surface parallax on the image screen from the depression angle. In the one image captured by the road surface parallax calculating means and the stereo image detecting means, the parallax is calculated for each vertical scanning in the image so as to cancel the road surface parallax. A road surface difference adjustment image creating means for creating a road surface difference adjustment image while shifting the image information by the road surface difference by the image generation direction, and the road surface difference adjustment image and the stereo image detection. Difference image creating means for creating a difference image by calculating a difference from the other image captured by the means, and three-dimensional object area detecting means for detecting a three-dimensional object area from the difference image. In a second aspect, the three-dimensional object area detection device is composed of two image pickup means mounted on a moving body, and the image pickup means are parallel to each other and on a road surface. While being arranged in parallel,
Of course, they are arranged at a predetermined distance from each other so that a predetermined parallax is generated between the images obtained by the respective image pickup means, and the scanning line direction of the images matches the parallax generation direction. Stereo image pickup means, a depression angle detection means for detecting a depression angle of the stereo image pickup means with respect to a road surface, and a road surface parallax calculation means for calculating a road surface parallax on the image screen from the depression angle. And, in one of the images captured by the stereo image detecting means, the image information is set in a direction in which the parallax occurs in each vertical scanning in the image so as to cancel the road surface parallax. While shifting the road surface difference by the road surface difference, a road surface difference adjustment image creating means for creating a road surface difference adjustment image, and the road surface difference adjustment image and the stereo image detecting means A difference image creating means for creating a difference image by calculating a difference between the other images, a three-dimensional object area detecting means for detecting a solid object region from the difference image,
Distance detection means for analyzing the distance to the three-dimensional object area by correlation calculation for the detected three-dimensional object area, and distance information output by the distance analysis means are evaluated to select reliable distance information. A distance measuring device to a three-dimensional object area, which is composed of a distance calculating means for outputting the same.

[0007]

Since the three-dimensional object region detecting apparatus or the distance measuring apparatus to the three-dimensional object area and the methods thereof according to the present invention have the above-described technical configurations, a coordinate conversion table is used as compared with the conventional method. Since it is not used, the arithmetic processing operation is easy and simple, and since the number of arithmetic processing circuits is small, it is possible to obtain a high-speed detection result at low cost.

That is, according to the present invention, unlike the conventional method, the parallax on the road surface continuously changes in the vertical direction of the screen, but the parallax for a three-dimensional object is constant for the same object. Based on this, at the time of image processing, for each scanning position in vertical scanning in a predetermined image, the image data for each scanning position is moved by a predetermined amount in the same direction as the parallax direction in such a direction as to cancel the road surface parallax. By moving
A difference image is created and a three-dimensional object area is detected at high speed from the difference image.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The structure of a concrete example of a three-dimensional object region detecting apparatus according to the present invention will be described below in detail with reference to the drawings.
FIG. 1 and FIG. 2 are diagrams showing a configuration and a mounting state of a stereo image capturing means in a three-dimensional object area detecting device according to the present invention, and FIG. 3 is a three-dimensional object area detecting device according to the present invention. It is a block diagram which shows the outline of a structure.

That is, in FIG. 1 to FIG. 3, it is composed of two image pickup means 21 and 22 mounted on a moving body 1 such as a vehicle, and each of the image pickup means 21 and 22 has its own optical signal. The axes R1 and R2 are arranged parallel to each other and parallel to the road surface 3, and a predetermined distance m is set between them so that a predetermined parallax s is generated between the images obtained by the image pickup means 21 and 22. It is arranged apart.

Furthermore, the scanning line direction of the image is configured so that the parallax generation direction coincides with the stereo image pickup means 2, and the depression angle detection means for detecting the depression angle θ of the stereo image pickup means 2 with respect to the road surface 3. 5, a road surface parallax calculating means 6 for calculating the road surface parallax Rs on the image screen from the depression angle, and one of the images picked up by the first image pick-up means 21 in the stereo image detecting means 2. Image 7
In order to cancel the road surface parallax Rs, the image information is divided by the road surface parallax Rs at that point in the direction in which the parallax s occurs every time the image 7 is scanned in the vertical direction. While shifting, the road view difference adjustment image creating means 9 for creating the road view difference adjustment image and the difference between the road view difference adjustment image and the other image 8 imaged by the stereo image detecting means 22 are calculated. There is shown a three-dimensional object area detecting device including a difference image creating means 10 for creating a difference image and a three-dimensional object area detecting means 11 for detecting a three-dimensional object area from the difference image.

As the stereo image pickup means 2 in the present invention, generally known image pickup means 21 and 22 can be adopted, and a general configuration example thereof is as shown in FIG.
A light detecting element 24 composed of a lens 23 having a focal length f and a CCD or the like arranged facing the lens 23.
And the respective optical axes R1 and R
The reference numerals 2 are parallel to each other and are separated from each other by a camera base length m, and are also parallel to the road surface.

In such a structure, the normal parallax s occurs in the direction of the camera base line length. In the stereo image capturing means 2 in the present invention, for example, the image capturing means 21 on the left side of FIG. 2 captures the image 7 as shown in FIG. 4, and the image capturing on the right side of FIG. The means 22 captures the image 8 as shown in FIG. 5, and both images are combined to form a stereo image.

Further, in the three-dimensional object area detecting device according to the present invention, the depression angle detecting means 5 is provided, and the depression angle θ with respect to the stereo image pickup means 2 and the road surface 3 is detected. The configuration of the depression angle detecting means 5 is not particularly limited, and a depression angle measuring method generally used in the past can be used. On the other hand, in order to obtain an appropriate difference image from the two stereo images obtained from the stereo image pickup means 2 in the present invention, a parameter called road surface parallax Rs is used in the present invention. .

That is, the road surface parallax Rs in the present invention is
It is a parameter shown in the following Expression 1 or Expression 2.
According to the knowledge of the present invention, the parallax generated by the configuration of the present device is that in each captured image in the stereo image, the parallax of the road surface 3 continuously changes in the vertical direction of the screen. However, it has been found that the parallax of the three-dimensional object region 4 provided on the road is constant as far as the same object is concerned. Therefore, in the image processing of the stereo image, the parallax of the road surface is It is known that a three-dimensional object region can be efficiently extracted by creating a predetermined difference image using Rs.

That is, the road surface parallax Rs defined in the present invention changes depending on the vertical position of the image as shown in the following equations (1) and (2). That is, the road surface parallax Rs changes as a function of the vertical position y, where y is an arbitrary vertical position on the image. Therefore, the road surface parallax Rs changes every time the image is scanned in the vertical direction. Is.

When y <M, Rs = 0 ... (1) When y ≧ M, Rs = m / h × (y−M) (2) Here, M = y ₀ + k × f × tan (θ) is the vertical position of the vanishing point E on the imaging screen, and m is the left and right image capturing means 2
The distance (mm) between 1 and 22, h is the height (mm) of the stereo image pickup device 2, and y is the vertical position (do) on the image.
t) and f are focal lengths (mm) of the image pickup means 21 and 22,
y ₀ is the vertical center position (dot) of the image, k is an arbitrary coefficient, and θ is the depression angle of the stereo image capturing means 2 with respect to the road surface.

Therefore, in the present invention, for example, one image pickup means 2 in the stereo image pickup means 2 is used.
Image data for each vertical position y in the image 7 shown in FIG. By moving each time, the road surface view difference adjustment image 11 as shown in FIG. 7 is created.

Therefore, the three-dimensional object area detecting device according to the present invention is provided with the road surface view difference adjustment image creating means 9, and the road surface view difference adjusting image creating means 9 is For example, it is composed of a delay circuit or the like having the road surface parallax Rs as a delay amount. In the three-dimensional object area detecting device according to the present invention, the road surface view difference adjustment image 11 shown in FIG. 7 obtained above and the other image capturing means 22 of the stereo image detecting means 2 are used for image capturing. 8 is calculated by calculating the difference from the other image 8 shown in FIG.
The differential image 12 as shown in FIG. 2 is created, and therefore, the differential image creating means 10 for creating the differential image 12 is provided.

The structure of the difference image creating means 10 is not particularly limited, and a conventionally known difference image creating means,
It is possible to adopt the method. In the present invention, the difference image 12 thus obtained is stored in an appropriate storage means and used for a three-dimensional object area detecting operation described later. In the three-dimensional object region detecting apparatus according to the present invention, the road surface view difference adjustment image creating means 9 creates the road surface view difference adjustment image 11 by performing the above-described processing on the entire predetermined image 7. However, the difference image 12 may be created from the whole of the other picked-up image 8 shown in FIG. 5, and one line scan is performed for the one image 7 in the vertical direction y. Each time the image information for one line is stored in the appropriate storage means 30,
The difference calculation processing described above is executed between the image information of the same line of the other captured image 8 shown in FIG. 5 via the circuit 31 for calculating the road surface parallax Rs for each line of image information. Finally, the difference image 12 as shown in FIG. 8 may be created.

In the present invention, the difference image creating means 10 described above calculates the difference between the road surface view difference adjustment image 11 and the picked-up image 8 to obtain the road surface as shown in FIG. The information is erased, and the difference value information about only the contour portion related to the three-dimensional object area remains on the screen. As described above, in the three-dimensional object region detection method according to the present invention, as described above, the image information is moved in the parallax direction at each vertical scanning position so as to cancel the road surface parallax Rs. Moreover, since it is realized by using a delay circuit that can vary the delay time, the circuit configuration is simplified and the calculation processing can be speeded up, so that the difference calculation processing can be performed in real time. .

In the three-dimensional object area detecting apparatus according to the present invention, a moving body such as a vehicle often vibrates up and down when traveling on a road. Therefore, pitching occurs in the stereo image pickup means 2. However, the detected depression angle θ may change. In this case, an appropriate pitch amount detecting means 1
3 is provided, and the delay amount of the road surface difference adjustment image creating unit 9 is corrected and adjusted in response to the detected pitch amount output by the pitch amount detecting unit 13 to cope with the problem. .

For example, in the present invention, a rotational angular velocity detection sensor or the like is provided, and the depression angle θ of the stereo image capturing means 2 at rest with the road surface 3 and the output of the rotational angular velocity detection sensor are integrated to form a stereo image capturing means. The amount of angular displacement in the pitch direction 2 is detected, and the value obtained as a result is added to the depression angle θ to determine the vertical position of the vanishing point E when the stereo image capturing means 2 is moved. It is possible to calculate the amount of change and determine the correct vertical position of the vanishing point E.

As described above, if the exact position of the vanishing point E is found in each image processing, the accurate road surface parallax Rs can be obtained from the above equations (1) and (2). It is possible to extract an accurate three-dimensional object area. Further, in the present invention, the distance d from the stereo image pickup means 2 is calculated by the calculation with respect to the accurate three-dimensional object area thus obtained.

The method of calculating the distance d with respect to the three-dimensional object area in the present invention is not particularly specified, and the conventional distance calculation calculating means 16 and appropriate evaluation analyzing means 15 can be used. In the present invention, in order to accurately calculate the distance, for example, the stereo image pickup is differentiated in the parallax s generation direction to remove the direct current component of the brightness of the left and right images, and the like. , The parallax is calculated by the correlation calculation for the three-dimensional object area obtained by the method described above, the correlation result is evaluated, the best data is selected to obtain the parallax, and the three-dimensional object is obtained from the parallax. By obtaining the distance to the area, the accurate distance to the three-dimensional object area can be calculated.

By calculating the distances to a plurality of positions of the three-dimensional object area by the above method, it is possible to obtain the distribution of the distances to the three-dimensional object area. In the present invention, the area further detected as the three-dimensional object area,
It is necessary to judge whether or not the moving body is present on the traveling road. Therefore, the area other than the three-dimensional object area obtained by the above method is used as the traveling road detection area data, and the traveling road is detected. It is desirable that a traveling road area detecting means 14 for detecting the is further provided.

The traveling road area is data of only the road surface including the traveling road, and has a sufficient amount of information for detecting the traveling road, but does not include data of an extra three-dimensional object area. Therefore, the amount of processed data is small, and therefore the speed can be increased and more accurate detection can be performed. FIG. 9 is a block diagram showing a configuration example of a specific example of the distance measuring apparatus to the three-dimensional object area according to the present invention. The three-dimensional object area detecting apparatus according to the present invention shown in FIG.
4, the evaluation analysis means 15 and the distance calculation means 16 are added.

FIG. 10 is a flow chart showing an operation procedure in a specific example of the method for detecting a three-dimensional object region according to the present invention. That is, in FIG. 9, after the start, in step (1), the stereo images 7 and 8 are captured using the stereo image capturing means 2 shown in FIGS. ), The depression angle θ of the stereo image pickup means with respect to the road surface 3 is detected, and the depression angle detected in the step in step (3) and the arrangement interval between the two pickup means 21 and 22 described above. The road surface parallax Rs on the image screen is calculated from m, the height h of the stereo image pickup means 2, and the information about the scanning positions y and y ₀ on the current image.

Next, in step (4), the image 7 is so arranged as to cancel the road surface parallax Rs in the one image 7 taken by the stereo image detecting means.
The road surface view difference adjustment image 11 is created by shifting the image information by the road surface parallax Rs in the direction in which the parallax s occurs each time the vertical scanning is performed. Then, the process proceeds to step (5), the difference between the road surface difference adjustment image 11 and the other image 8 captured by the stereo image detecting means 22 is calculated to create the difference image 12, and then the step ( Proceeding to 6), the difference image 12
Then, the three-dimensional object area 4 is detected to become END.

On the other hand, the procedure of one specific example of the method for measuring the distance to the three-dimensional object region in the present invention is shown in the flowchart of FIG. That is, in step (1) after the start, as shown in FIG.
Through the stereo image capturing means 2 shown in FIG. 3 to capture the stereo images 7 and 8, and in step (2), the depression angle θ of the stereo image capturing means with respect to the road surface 3 is detected. In step (3), the presence or absence of a pitch is judged, and if NO, the process directly proceeds to step (4) and the depression angle detected in the step and the arrangement interval m between the two image pickup means 21 and 22 described above. , The height h of the stereo image pickup means 2 and the information about the scanning positions y and y ₀ on the current image, the road surface parallax Rs on the image screen is calculated, but YES, that is, the pitch is If it is determined that the road surface parallax Rs correction data is calculated, the process proceeds to step (5), and step (4) is performed.
Then, the road surface parallax Rs is calculated.

Next, in step (6), the image 7 is so arranged as to cancel the road surface parallax Rs in the one image 7 picked up by the stereo image detecting means.
The road surface view difference adjustment image 11 is created by shifting the image information by the road surface parallax Rs in the direction in which the parallax s occurs each time the vertical scanning is performed. Then, the process proceeds to step (7), the difference between the road surface difference adjustment image 11 and the other image 8 captured by the stereo image detecting means 22 is calculated to create the difference image 12, and then the step ( 8), the difference image 12
Then, the three-dimensional object area 4 is detected.

Next, in step (9), the correlation calculation and evaluation processing for the three-dimensional object area 4 obtained in step (8) are executed, and the process proceeds to step (10) to obtain in step (9). Utilizing such evaluation, the distance to the three-dimensional object region is calculated by a known distance calculation method. Next, in step (11), it is determined whether or not the three-dimensional object region 4 exists on the traveling road. If YES, the three-dimensional object region is determined to be an obstacle in step (12). Then
On the other hand, if NO, then in step (13), the three-dimensional object area is judged to be a non-obstacle, and END is set.

Next, in order to calculate the distance to the three-dimensional object area in the above concrete example of the present invention, the parallax s is obtained, and the distance from the parallax s to the three-dimensional object area is calculated. An example of the method is described below. That is, in the present invention,
First, by using the luminance information in the image information obtained from two different viewpoints, the positional shift between the measurement objects in the two luminance information groups, that is, the parallax is obtained. One of them is the above-mentioned correlation calculation.

As described above, the correlation calculation method obtains the parallax from the image data.
Left and right images as shown in FIGS. 12A and 12B, that is, FIG. 12A is an image obtained by the left imaging device, and FIG. 12B is obtained by the right imaging device. 12B, first, as shown in FIG. 12B, the right side captured image in FIG. 12 is divided into area units (vertical h dots, horizontal w dots) for which correlation calculation is performed.

Then, the correlation calculation is performed for the three-dimensional object region 4 shown in FIG. 2 by using the equation (3), and as shown in FIG. 13, when the correlation value V (i) is the smallest and the correlation is strongest. The shift amount i is obtained. Next, in order to obtain more accurate information, interpolation calculation is performed in the minimum value portion of the graph of V (i) according to equation (3), and the shift amount is calculated with an accuracy of a decimal point or less.

Assuming that the shift amount i is i ₀ , the parallax to be obtained is proportional to i ₀ , and the coefficient K depending on the configuration of the image pickup device.
If is calculated in advance, the parallax can be calculated by the following equation (4).

[0037]

In the equation (3), the data A is the right image brightness data, and the data B is the left image brightness data. With respect to the correlation result obtained as described above, only the reliable one is evaluated and selected, and the distance is calculated from the parallax calculated for it using the operation formula (6) described later. As the evaluation method, the following expression (5) is used, and the evaluation value H whose evaluation value H is close to 1 or more is evaluated as a good result.

[0039]

In the equation (5), S represents the maximum shift amount in the correlation calculation. Therefore, next, a specific method for calculating the distance to the three-dimensional object area, that is, a specific example will be described for stereoscopic viewing. As a method of calculating the distance to the three-dimensional object area in the present invention, the positional deviation between the distance measurement objects obtained as described above, that is, the parallax and the distance between the two viewpoints measured in advance, The distance is obtained from the angle of view, the number of pieces of luminance information in the angle of view, the angle of the viewpoint, and the like.

FIG. 14 is a diagram for explaining a concrete configuration example of the method of calculating the distance to the three-dimensional object region in the present invention, that is, the stereoscopic method. In FIG. 14A, 31 is a measurement. Target objects are lenses 32 and 33, lenses 34 and 35 are image pickup devices, and reference numerals 36 and 37 are optical axes of an image pickup apparatus including the lens image pickup devices. Further, d is the distance between the image pickup device and the object, and f is the focal length of the lens.

Further, a and b are the distances from the optical axis of the positions where the same point of the object 31 is projected on the image pickup devices 34 and 35, respectively. On the other hand, m is the distance (baseline length) between the two imaging devices. Further, FIG. 14 (B) shows a state in which the image pickup device on the right side of FIG. 14 (A) is moved by the base line length m, and the lenses 34 and 35 are overlapped.

As can be seen from this figure, the triangle ABC
And the triangle ADF are similar to each other. Therefore, FIG.
The ratio of a + b and m in (B) is the same as the ratio of f and d. When the above calculation method is expressed by an equation, the following equation (6) is obtained. , (A + b): m = f: d (6) The formula (6) is transformed into the formula (7).

[0044] When (a + b) (referred to as parallax) in the above is calculated, the distance d to the three-dimensional object region is measured using the above equation (7).

[0045]

The three-dimensional object region detecting apparatus or the distance measuring apparatus to the three-dimensional object area and the methods according to the present invention do not use the coordinate conversion table as compared with the conventional methods.
Since the amount of processing slip data is small, the arithmetic processing operation is easy and simple, and the number of arithmetic processing circuits is small, it is possible to obtain high-speed and high-accuracy detection results at low cost.

[Brief description of drawings]

FIG. 1 is a diagram showing an example in which a stereoscopic image capturing means in a three-dimensional object region detecting apparatus according to the present invention is mounted on a moving body.

FIG. 2 is a diagram showing a configuration example of a stereo image capturing means in the three-dimensional object region detecting apparatus according to the present invention.

FIG. 3 is a block diagram showing a configuration example of a specific example of a stereo image pickup device according to the present invention.

FIG. 4 is a diagram showing an example of a first image captured by the stereo image capturing means.

FIG. 5 is a diagram showing an example of a second image captured by the stereo image capturing means.

FIG. 6 is a diagram showing an example of image information necessary for calculating a road surface parallax Rs in the present invention.

FIG. 7 is a diagram showing an example of a road surface view difference adjustment image created in the present invention.

FIG. 8 is a diagram showing an example of a difference image obtained in the present invention.

FIG. 9 is a block diagram showing an example of the configuration of a distance measuring device to a three-dimensional object region according to the present invention.

FIG. 10 is a flowchart showing an operation procedure of the three-dimensional object region detecting method according to the present invention.

FIG. 11 is a flowchart showing an operating procedure of a distance measuring method to a three-dimensional object region according to the present invention.

FIG. 12 is an image used when performing a correlation calculation in the present invention, FIG. 12 (A) is a left image, and FIG. 12 (B) is a right image. is there.

FIG. 13 is a graph showing the relationship between the shift amount i and the correlation value V (i).

FIG. 14 is a diagram showing an example of a calculation method for measuring a distance to a three-dimensional object region in the present invention.
FIG. 14A is a block diagram showing a schematic configuration of a distance measuring device to the three-dimensional object region, and FIG. 14B is FIG. 14A.
The image pickup device on the right side of the
It is the figure which made it the state which piled up and 35.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Moving body 2 ... Stereo image imaging means 3 ... Road surface 4 ... Three-dimensional object area 5 ... Depression angle detection means 6 ... Road surface parallax Rs detection means 7 ... 1st imaging screen 8 ... 2nd imaging screen 9 ... Road surface Parallax adjustment image creating means 10 ... Difference image creating means 11 ... Three-dimensional object area detecting means 12 ... Difference image 13 ... Pitch amount detecting means 14 ... Traveling path detecting means 15 ... Correlation evaluating means 16 ... Distance calculating means 21 ... First Image pickup means 22 ... Second image pickup means 23 ... Lens 24 ... Light receiving means 31 ... Object 32, 33 ... Lens 34, 35 ... Image pickup element 36, 37 ... Optical axis of image pickup apparatus

Claims (7)

[Claims] 1. An image pickup device mounted on a moving body, comprising two image pickup devices, wherein the respective image pickup devices are arranged in parallel with each other and in parallel with a road surface. Stereo image capturing means, which are arranged at a predetermined interval from each other so that a predetermined parallax is generated between the images, and in which the scanning line direction of the images matches the parallax generation direction. Depression angle detecting means for detecting the depression angle of the stereo image capturing means with respect to the road surface, road surface parallax computing means for computing the road surface parallax on the image screen from the depression angle, and imaging by the stereo image detecting means In one of the images, the image information should not be shifted by the road surface parallax in the direction in which the parallax occurs in each vertical scanning in the image so as to cancel the road surface parallax. But A road surface difference adjustment image creating means for creating a road surface difference adjustment image, and calculating the difference between the road surface difference adjustment image and the other image captured by the stereo image detecting means. A three-dimensional object area detecting device comprising: a difference image creating means for creating an image; and a three-dimensional object area detecting means for detecting a three-dimensional object area from the difference image. 2. The three-dimensional object according to claim 1, wherein the means for shifting the image information by the road surface view difference in the road surface view difference adjusted image creating means uses a delay circuit. Area detection device. 3. It is composed of two image pickup means mounted on a moving body, and the image pickup means are arranged in parallel with each other and in parallel with a road surface, and are obtained by the respective image pickup means. Stereo image capturing means arranged so as to generate a predetermined parallax between the images, with a predetermined interval therebetween, and further configured so that the scanning line direction of the images matches the parallax generation direction. Depression angle detecting means for detecting the depression angle of the stereo image capturing means with respect to the road surface, road surface parallax computing means for computing the road surface parallax on the image screen from the depression angle, and the stereo image detecting means for imaging. In one of the images, so as to cancel the road surface parallax, for each vertical scanning in the image, in the direction in which the parallax occurs, while shifting the image information by the road surface parallax, A road image difference adjustment image creating unit that creates a road image difference adjustment image, and a difference image is calculated by calculating a difference between the road image difference adjustment image and the other image captured by the stereo image detecting unit. Difference image creating means for creating, three-dimensional object area detecting means for detecting a three-dimensional object area from the difference image, and distance analysis for analyzing the distance to the three-dimensional object area by correlating the detected three-dimensional object area And a distance calculation means that evaluates the distance information output by the distance analysis means and selects and outputs reliable distance information. apparatus. 4. The three-dimensional object according to claim 3, wherein the means for shifting the image information by the road surface view difference in the road surface view difference adjusted image creating means uses a delay circuit. Distance measuring device to the area. 5. An area other than the area detected as the three-dimensional object area is used as the road area detection area data, and a road area detecting means for detecting the road area is further provided. Item 3. A device for measuring a distance to a three-dimensional object region according to item 3. 6. The image pickup device comprises two image pickup means mounted on a moving body, and the image pickup means are arranged in parallel with each other and in parallel with a road surface. A stereo image capturing means, which is arranged at a predetermined interval from each other so that a predetermined parallax is generated between the images, and is configured so that the scanning line direction of the image matches the parallax generation direction. In a method of detecting an object to be measured on a road using the step of detecting the depression angle of the stereo image capturing means with respect to the road surface, the detected depression angle,
Calculating a road surface parallax on the image screen from information about an arrangement interval between the two image pickup means, a height of the stereo image pickup means, and a scanning position on a current image; In one of the images captured by the image detection means, the image information is displayed in the direction in which the parallax occurs in each vertical scan in the image so as to cancel the road surface parallax. A step of creating a road surface view difference adjusted image while shifting the parallax by a parallax, and a difference image is created by calculating a difference between the road surface view difference adjusted image and the other image captured by the stereo image detecting means. And a step of detecting a three-dimensional object area from the difference image. 7. The image pickup device comprises two image pickup means mounted on a moving body, wherein the respective image pickup means are arranged in parallel with each other and in parallel with a road surface, and the image pickup means are obtained by the respective image pickup means. A stereo image capturing means, which is arranged at a predetermined interval from each other so that a predetermined parallax is generated between the images, and is configured so that the scanning line direction of the image matches the parallax generation direction. In a method of detecting an object to be measured on a road using the step of detecting the depression angle of the stereo image capturing means with respect to the road surface, the detected depression angle,
Calculating a road surface parallax on the image screen from information about an arrangement interval between the two image pickup means, a height of the stereo image pickup means, and a scanning position on a current image; In one of the images captured by the image detection means, the image information is displayed in the direction in which the parallax occurs in each vertical scan in the image so as to cancel the road surface parallax. A step of creating a road surface view difference adjusted image while shifting the parallax by a parallax, and a difference image is created by calculating a difference between the road surface view difference adjusted image and the other image captured by the stereo image detecting means. And a step of detecting a three-dimensional object area from the difference image, and a step of analyzing the distance to the three-dimensional object area by a correlation calculation for the detected three-dimensional object area,
A distance measuring method up to a three-dimensional object region, comprising: a distance calculating step of evaluating the distance information output by the distance analyzing means, selecting and outputting reliable distance information.