CPC G06V 20/64 (2022.01) [B60R 1/00 (2013.01); G06T 7/593 (2017.01); G06V 10/56 (2022.01); G06V 10/751 (2022.01); G06V 20/56 (2022.01); H04N 13/239 (2018.05); B60R 2300/105 (2013.01); B60R 2300/20 (2013.01); B60R 2300/80 (2013.01); G06T 2207/30248 (2013.01); H04N 2013/0081 (2013.01)] | 15 Claims |
1. A vehicle exterior environment recognition apparatus comprising:
a monocular distance calculator configured to calculate a monocular distance on a basis of a luminance image generated by an imaging unit, the monocular distance corresponding to a relative distance of a three-dimensional object;
a relaxation distance calculator configured to calculate a relaxation distance on a basis of a degree of image matching between two luminance images generated by two imaging units, the relaxation distance corresponding to the relative distance of the three-dimensional object, the degree of image matching based on which the relaxation distance is calculated being determined using a threshold more lenient than another threshold used when the degree of image matching is determined to calculate a stereo distance, the stereo distance corresponding to the relative distance of the three-dimensional object; and
an updated distance calculator configured to calculate an updated distance by mixing the monocular distance and the relaxation distance at a predetermined ratio, the updated distance corresponding to an updated one of the relative distance of the three-dimensional object.
|