Patent ID: 7436430

Claim:
A memory device comprising a computer readable medium storing computer readable instructions which cause a computer to perform a method for detecting an obstacle, the method comprising: inputting images through a first camera and a second camera, the first camera and the second camera being fixedly disposed on a moving object on a road plane, a view position of the first camera being different from a view position of the second camera on the moving object; storing a plurality of images input through the first camera and the second camera; transforming an image input through the first camera into a plurality of transformed images using each transformation parameter previously calculated based on different geometrical relationships among the road plane, the first camera and the second camera, wherein each transformation parameter differently represents a transformation from the view position of the first camera to the view position of the second camera; comparing each area of the same position in each of the plurality of transformed images with a corresponding area of the same position in another image input through the second camera; calculating coincidence degrees of compared areas of the same position between each transformed image and another image; selecting a maximum coincidence degree from the coincidence degrees of the compared areas of the same position; detecting an obstacle area based on areas having the maximum coincidence degree in which the maximum coincidence degree is below a threshold; and presenting information of the obstacle area to a user of the moving object.