Provided is an obstacle recognition device capable of verifying a camera posture parameter to be used for image conversion and capable of defining a relationship between a device camera and the current environment, thereby achieving improved obstacle recognition reliability by simultaneously improving both the accuracy of obstacle detection and accuracy in calculating the distance to the detected object even if there is a change in environmental conditions in which a vehicle is traveling. This invention comprises: acquiring a first difference (∆A) relating to the posture of a camera based on road surface shapes at different time instants; acquiring a second difference (∆R) relating to the amount of movement of characteristic points within images captured at said different time instants; and verifying, by employing the first difference (∆A) and the second difference (∆R), a camera posture parameter to be used for image conversion for calculating a differential image.

Osato Takuma

Papers

Obstacle recognition device