Imaging control device and method, and vehicle

An imaging control method, comprising:

• controlling, by circuitry of an imaging control device, an imaging operation of a stereo camera system, wherein
• the stereo camera system includes a set of cameras in a first direction, and
• the set of cameras includes at least one camera that has an optical axis directed obliquely downward with respect to a second direction different from the first direction;
• executing, by the circuitry, a monitoring process based on a first image captured by the at least one camera;
• detecting, by the circuitry, an edge portion from the first image based on a change in one of a color or brightness in the first image;
• detecting, by the circuitry, an angle of the edge portion based on a direction of the change;
• determining, by the circuitry a first distance of a first target object from the imaging control device based on the monitoring process and the angle of the edge portion, wherein the first target object is along the second direction;
• and
• determining, by the circuitry, a second distance of a second target object from the imaging control device based on a motion stereo process, wherein
• the second target object is along a third direction that is perpendicular to the second direction, and
• the motion stereo process is based on a movement of the at least one camera and a change in a position of the second target object in the first image with respect to a second image captured by the at least one camera.

A vehicle, comprising:

• a stereo camera system including a set of cameras in a first direction, wherein
• the set of cameras includes at least one camera that has an optical axis directed obliquely downward with respect to a second direction different from the first direction, and
• the at least one camera is configured to capture a first image and a second image;
• and
• circuitry configured to:
• execute a monitoring process based on the first image;
• detect an edge portion from the first image based on a change in one of a color or brightness in the first image;
• detect an angle of the edge portion based on a direction of the change;
• determine a first distance of a first target object from the vehicle based on the monitoring process and the angle of the edge portion, wherein the first target object is along the second direction;
• and
• determine a second distance of a second target object from the vehicle based on a motion stereo process, wherein
• the second target object is along a third direction that is perpendicular to the second direction, and
• the motion stereo process is based on a movement of the at least one camera and a change in a position of the second target object in the first image with respect to the second image.