Obstacle detection apparatus and method

An obstacle detection method, comprising the steps of:

• inputting images from at least two different camera positions through first and second cameras on a moving object;
• storing a plurality of input images;
• transforming one image input by the first camera using each of a plurality of transformation parameters each representing a geometrical relationship among a predetermined plane, the first camera, and the second camera;
• generating a plurality of transformed images from the camera position of the second camera;
• comparing each of the plurality of transformed images with another image input by the second camera for each area consisting of pixels;
• calculating a coincidence degree of each area between each transformed image and another image;
• and
• detecting an obstacle area consisting of areas each having a coincidence degree below a threshold from another image.

A computer-readable memory containing computer-readable instructions, comprising:

• an instruction unit to input images from at least two different camera position through first and second cameras on a moving object;
• an instruction unit to store a plurality of input images;
• an instruction unit to transform one image input by the first camera using each of a plurality of transformation parameters each representing a geometrical relationship among a predetermined plane, the first camera, and the second camera;
• an instruction unit to generate a plurality of transformed images from the camera position of the second camera;
• an instruction unit to compare each of the plurality of transformed images with another image input by the second camera for each area consisting of pixels;
• an instruction unit to calculate a coincidence degree of each area between each transformed image and another image;
• and
• an instruction unit to detect an obstacle area consisting of areas each having a coincidence degree below a threshold from another image.