Patent ID: 7583817

Claim:
An object determining apparatus comprising: a photographing unit for acquiring image data expressing a plurality of images having disparity by photographing an object from each of different view points; a processing unit for computing the disparity of corresponding points on the respective plurality of images on the basis of the image data expressing the plurality of images; a block determining unit for associating information relating to the disparity points from which disparity is computed to respective blocks of a disparity map that is constituted by arranging a plurality of blocks defined such that one side thereof corresponds to the disparity, the other side corresponds to a position in the lateral direction of the image and the side corresponding to the disparity and the side corresponding to the position in the lateral direction become longer in accordance with an increase of the disparity, and determining first block(s) in which a distribution of the associated disparity points in the disparity direction is small and a distribution in the image vertical direction is large, and second block(s) in which the distribution in the disparity direction of the associated disparity points is large and the distribution in the image vertical direction is small; and an attribute applying unit for applying the attribute of three dimensional object to the first block(s) and applying the attribute of road surface to the second block(s).