Abstract: Provided are: a correction object determining section which determines whether, on an imaging plane in image data obtained by imaging an object irradiated with diffusion light from a light source by a camera, a region regarded to be in a state where a rod-like object has been irradiated with the diffusion light exists; a measurement point calculating section which estimates a light source center position of the diffusion light based on information of a luminance distribution of the diffusion light in the image data to set it as a first measurement point; and a distance calculating section which calculates a distance between the object at the first measurement point and the camera according to triangulation based on a horizontal distance between the center of the imaging plane and the first measurement point, the positions of the camera and light source, and an imaging direction angle of the camera.

Abstract: Provided are: a correction object determining section which determines whether, on an imaging plane in image data obtained by imaging an object irradiated with diffusion light from a light source by a camera, a region regarded to be in a state where a rod-like object has been irradiated with the diffusion light exists; a measurement point calculating section which estimates a light source center position of the diffusion light based on information of a luminance distribution of the diffusion light in the image data to set it as a first measurement point; and a distance calculating section which calculates a distance between the object at the first measurement point and the camera according to triangulation based on a horizontal distance between the center of the imaging plane and the first measurement point, the positions of the camera and light source, and an imaging direction angle of the camera.

Abstract: A restriction is given to the calculation function for image processing achieved by the hard-wired system and the memory access control of a buffer memory, and a range of the restriction is made variable by a program control and others. Data is inputted to the buffer memory from the outside with a restriction of “in units of memory line”, and the number of memory lines and positions of the same to which data is inputted can be programmable by the control circuit. The arithmetic circuit is subjected to the restriction of performing the calculation in units of data of one or plural memory lines supplied from the buffer memory, and a calculation processing content in units of calculation processing for the units of data can be programmably assigned by the control circuit.