ABNORMALITY DIAGNOSTIC DEVICE, ABNORMALITY DIAGNOSTIC METHOD, IMAGING APPARATUS, MOVING BODY CONTROL SYSTEM AND MOVING BODY

摘要

PROBLEM TO BE SOLVED: To determine an abnormal state of a stereo camera without being influenced by an external environment (conditions with clear brightness and darkness, such as backlight and the dark, and a road surface state or the like) in an on-vehicle imaging apparatus or the like.SOLUTION: An abnormality diagnostic device includes: a parallax calculation unit 30 which generates parallax image data from stereo image data photographed by right and left cameras 11, 12; and a camera abnormality detection processing unit 60 which determines whether the parallax image data is normal or not, determines that the right and left cameras 11, 12 are normal if the parallax image data is normal, and determines that the right and left cameras 11, 12 are abnormal if the parallax image data is abnormal.