To provide a surrounding monitoring device and a surrounding monitoring method with which it is possible to appropriately monitor the surroundings of a vehicle irrespective of a direction in which a parallax value deviates.SOLUTION: A surrounding monitoring device 10 comprises: a parallax calculation unit 110 for calculating the parallax value of a pixel region where an object exists, on the basis of a plurality of images in which the object is imaged from different positions using imaging devices 21, 22; and a distance calculation unit 120 for calculating the distance from the imaging devices to the object. The distance calculation unit 120 includes a parallax correction unit 122 for increasing a parallax value calculated by the parallax calculation unit, on the basis of an error range of parallax values that corresponds to an error range of distances from the imaging devices to the object. The distance calculation unit 120 calculates the distance from the imaging devices to the object on the basis of the parallax value corrected by the parallax correction unit 122.SELECTED DRAWING: Figure 1
【課題】視差値のずれが生じる方向に関わらず、適切に車両の周辺を監視できる周辺監視装置および周辺監視方法を提供する。【解決手段】周辺監視装置10は、撮像装置21、22を用いて対象物を異なる位置から撮影した複数の画像に基づいて、対象物が存在する画素領域の視差値を算出する視差算出部110と、撮像装置から対象物までの距離を算出する距離算出部120とを備える。距離算出部120は、撮像装置から対象物までの距離の誤差範囲に対応する視差値の誤差範囲に基づいて視差算出部によって算出された視差値を大きくする視差補正部122を備える。距離算出部120は、視差補正部122によって補正された視差値に基づいて撮像装置から対象物までの距離を算出する。【選択図】図1
SURROUNDING MONITORING DEVICE AND SURROUNDING MONITORING METHOD
周辺監視装置および周辺監視方法
2019-04-25
Patent
Electronic Resource
Japanese
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