US Patent 7209031 Obstacle detecting apparatus and method

An obstacle detecting apparatus includes an image input unit for receiving images inputted respectively from a plurality of image pick-up devices and accumulating the input images, a feature calculating unit for calculating predetermined, specific feature quantities in the respective accumulated images, a feature comparing unit for comparing the feature quantities, and a result judging unit for judging the presence or absence of an obstacle on the basis of the comparison result. The obstacle detecting apparatus can thus detect an obstacle present on the road by distinguishing the obstacle from a mere object causing no obstruction to driving of the vehicle.