Patent ID: 7362881

Claim:
An obstacle detection system comprising: a plurality of image pickup units having light receiving units disposed on a driver's own vehicle at a substantial spacing from each other for taking regions, to which the light receiving units are directed, simultaneously as images; an image storage unit for storing the images taken by said image pickup units; a feature extraction unit for extracting such ones of the regions taken by said image pickup units as correspond to parallel members disposed generally in parallel with each other on a plane, as can be traveled by said own vehicle, from a first image taken by a first image pickup unit and a second image taken by a second image pickup unit, as stored in said image storage unit, to determine intersection points at which said extracted regions intersect in said first and second images; a difference detection unit for determining a corresponding region in the second image, as corresponding to an arbitrary region in said first image, assuming that said arbitrary region is arising from said plane, using an epipolar constraint between said extracted regions of said first and second images, to compare intensities of said arbitrary region and said corresponding region, thereby to extract a region having a substantially different intensity as an obstacle region and obtain an obstacle region image therefrom; and a height computation unit for extracting polygonal regions, as composed of an intensity higher than a standard value, of said obstacle region image thereby to detect as a true obstacle region said polygonal region of a threshold is determined by a higher value of a ratio which is determined from a vertical size of said polygonal region in said obstacle region image and a size from a lower end of said polygonal region to scan-line in said obstacle region image including one of said intersection points that is included in said obstacle region image.