Patent attributes
An objective of the present invention is, in a stereo camera device, to determine an accurate image position in a direction of progress to detect at an early stage an obstacle or a preceding vehicle on a road. Provided is a stereo camera device for measuring the distance to a solid object from images photographed with a plurality of cameras, said device characterized by: a wide-angle image cropping part for cropping a portion of the images; a distance image cropping part for cropping and enlarging a portion of the images; a road shape determination part for determining a road shape, including slope information, of a road being traveled; and determining, on the basis of the road shape in a prescribed distance, which has been derived with the road shape determination part, the cropping position and/or range of the distance image cropping part.
