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Obstacle detection device and method therefor

  • US 7,132,933 B2
  • Filed: 03/23/2005
  • Issued: 11/07/2006
  • Est. Priority Date: 08/28/2002
  • Status: Expired due to Fees
First Claim
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1. A vehicle in which at least two image pick-up devices each pick up an image of a preset common detection region, and which determines whether an obstacle is present or not in the detection region from the stereo images picked up using the image pick-up devices, the vehicle comprising:

  • image input means for receiving the image from each of the image pick-up devices;

    correspondence detection means for deriving a plurality of pairs of corresponding points in the detection regions of the received two stereo images;

    slope degree calculation means for calculating a slope degree corresponding to a slope angle between a basic plane which is parallel to optical axes of the image pick-up devices and a detection plane including the derived plurality of corresponding points in the stereo images; and

    result determination means for determining there is an obstacle when the slope degree of the detection plane is larger than a predetermined value.

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