To correct a position of a spatio-temporal image detection line in response to changes in an imaging direction of a camera.
An obstacle detecting device comprises a camera 1, mounted on a vehicle, for imaging a predetermined area around the vehicle in a predetermined imaging direction, an obstacle detecting unit 2 for detecting obstacles around the vehicle based on a temporal change in image data on a preset detection line in the predetermined area. The obstacle detecting unit 2 comprises a detection line correcting device 22 for acquiring an imaging direction of the camera 1 when an obstacle is detected, calculating the amount of deviation in the imaging direction of the camera 1 based on the acquired imaging direction and a default imaging direction of the camera 1, and correcting the set position of the detection line based on the calculated amount of deviation in the imaging direction.
KOZAI AKIHIKO
Hitoshi Maeda
Koichiro Okura
Miki Sato