Moving surface information detection apparatus, moving body device control system using the same, and moving surface information detection program

摘要

A face information detection apparatus (120, 102) is useable for a vehicle moveable on a face. The vehicle id equipped with a plurality of image capturing units for capturing images of a forward area of a moving direction of the vehicle, face information detectable using a plurality of captured images captured by the plurality of image capturing units. The face information detection apparatus (120, 102) includes a parallax information generation unit (121, 131, 132) to generate parallax information based on the plurality of captured images; a parallax histogram information generation unit (133) to generate parallax histogram information indicating a frequency profile of parallax values in each line area obtainable by dividing a captured image in a plurality of areas in a upper-lower direction, based on the parallax information; a parallax value selection unit (134) to determine parallax values having a frequency exceeding a given frequency threshold as selected targets to be processed process targets based on the parallax histogram information, and to select a group of parallax values matched to a feature indicated by parallax values of the face among the selected targets based on the parallax histogram information; and a face information detection unit (135) to detect face information based on a selection result of the parallax value selection unit (134). The parallax value selection unit (134) determines the selected targets based on parallax values selected previously.