Abstract: A method of digital imaging includes receiving image data and fitting a curve to boundaries within the image data. The curve is fit to the boundaries within the image data by extracting a region of interest from the image data and computing a signed distance transform in a narrow band within the region of interest. Finite difference equations including various variables are solved to determine a rate at which the distance transform changes. The distance transform is then diffused at that rate. The technique is based on region-based diffusion propagation, pixel classification, and mathematical morphology. The method is implemented to run in the narrow band of the region of interest specified by the user and the computations are implemented using a fast marching method in the narrow band. While idealized for distinguishing segments of white matter, gray matter, and cerebral spinal fluid in the brain, the algorithm can applied to find contours in any digital image.

Abstract: A drive alert system and method for a host vehicle having an adaptive cruise control system. The driver alert system determines if the adaptive cruise control system is on or off and adjusts the factors for determining braking capability and delay, when determining driver alert situations. The system and method also evaluates a vehicle situation relative to a phase plane, having axes of relative speed and relative acceleration of the host vehicle relative to a preceding vehicle, and compares the vehicle situation to a threshold for a particular region of the phase plane.

Abstract: A system for measuring the distance traveled by bodies in flight during sports events, the bodies executing trajectories having a common predetermined take-off area, and a variable landing point within a landing surface. The system includes a fixed image acquisition device positioned at a predetermined distance from the take-off area for acquiring the image of the landing surface, a recorder for recording the landing surface image at least from the moment of initiation of the flight to completion of the flight, an identifying device for identifying a landing point of the body within the landing surface, and a calculating device for calculating the distance of the landing point from the take-off area.

Abstract: The image processing device includes: a distance image capture device which captures a distance image based upon three dimensional coordinate values obtained, by measuring the distances to various points upon body surfaces in the forward visual field of a distance sensor, for those points upon those body surfaces; a straight line extraction device which obtains three dimensional coordinate values of two points from a viewpoint picture element in the distance image and a picture element which is separated by a predetermined distance from that viewpoint picture element, and which extracts a plurality of straight lines in a horizontal plane using two dimensional coordinate values by ignoring the vertical component among these three dimensional coordinate values; and a plane detection device which obtains points on the body surfaces which lie upon various straight lines which have been extracted by the straight line extraction device, and detects points which lie upon the same straight line as being upon the same

Abstract: An object recognition system having at least two image sensors and a controller that is adapted for measuring the distance from the system to a physical object with respect to respective windows of a n image captured by the sensors. The controller is further programmed to form clusters by uniting adjacent windows that have similar measure distances. The controller is programmed to judge whether each of the clusters is valid or invalid based on the attributes of the cluster and to recognize an object based on the clusters judged to be valid.

Abstract: An Image analysis system uses a multiple-region light detector for detecting light received from the receiving optics, wherein different regions of the light detector can be actuated separately. Control electronics synchronises the timing and direction of illumination of the light source and the actuation of the light detector. The time of light of light signals from the light source to the actuated portion of the detector for all illuminated directions is measured, and distances are derived. A warning is generated if the derived distance is less than a predetermined threshold.

Abstract: Cameras take images of a predetermined area around a door. A distance measurement unit measures a distance from the cameras to each object in the taken images. Based on the measured distance, a floor detection unit detects a floor, and an object height/position detection unit detects a height and position of any object other than the floor. A door position detection unit and a door position identification unit 57 specify position of the door (i.e. open or closed) in the images taken by the cameras. A judgement unit judges presence or absence of an object which is neither the floor nor the door. If an object other than the floor and the door is observed in the images taken by the cameras, an output unit produces an object detection signal, so that the door is kept in an open state.

Abstract: Half-plane predictive cancellation method for laser radar distance image noise employed in the present invention can perform real-time adjustment while conducting simultaneous pixel generation and noise cancellation during the scanning process. The same method can also be used in performing line-by-line operation after completion of each line scan. The latter half-plane of the line-by-line scanning operation can shift from left-to-right or right-to-left or reverse scanning direction after the completion of each line scan to decrease the possibilities of error accumulation.

Abstract: A method for range scanning consists of projecting a sequence of radiation patterns onto a scene, capturing images of the scene, determining correspondences between image features and projection pattern features, and computing a range image of the scene by triangulation of the correspondences. Novel projection patterns allow tracking of pattern features between images, so that range images can be computed for moving scenes in real time. Global assumptions about surface continuity or reflectivity of the scene are not required for successful range scanning. Projection patterns may be based on two-stripe codes, parallel stripes of bright and dark intensity. In two-stripe coded patterns, pattern features are the boundaries between stripes, which take on values of either on-on, on-off, off-on, or off-off. A particular boundary's value over the entire pattern sequence defines its code, used to determine correspondences between the boundary image and its location in the projection pattern.

Abstract: A system and method for using a machine vision system to locate and register patterns in an object using range data is provided. The machine vision system includes an acquisition system for acquiring a range image of an object. The system also includes a machine vision search tool coupled to the acquisition system for locating an instance of a trained pattern in the image. The tool registering the trained pattern transformed by at least two translational degrees of freedom and at least one non-translational degree of freedom with respect to an image plane. The acquisition system preferably includes a three-dimensional camera.

Abstract: A method of generating a dynamic depth map for a sequence of images from multiple cameras models a scene as a collection of 3D piecewise planar surface patches induced by color based image segmentation. This representation is continuously estimated using an incremental formulation in which the 3D geometric, motion, and global visibility constraints are enforced over space and time. The proposed algorithm optimizes a cost function that incorporates the spatial color consistency constraint and a smooth scene motion model.

Abstract: A computerized system for displaying, geolocating, and taking measurements from captured oblique images includes a data file accessible by the computer system. The data file includes a plurality of image files corresponding to a plurality of captured oblique images, and positional data corresponding to the images. Image display and analysis software is executed by the system for reading the data file and displaying at least a portion of the captured oblique images. The software retrieves the positional data for one or more user-selected points on the displayed image, and calculates a separation distance between any two or more selected points. The separation distance calculation is user-selectable to determine various parameters including linear distance between, area encompassed within, relative elevation of, and height difference between selected points.

Abstract: A moving object detection device comprising: an object distance setting part, determining the distance to a moving object that moves the most based on a distance image, in which information on distances to image-taken objects are embedded, and a difference image, in which the movements of moving objects are embedded as movement information; an object distance image generating part, generating an object distance image corresponding to the abovementioned distance; and a contour extraction part, extracting a contour inside the object distance image to detect a moving object.

Abstract: The method and device help avoid traffic accidents and violations through significant enhancing safety and convenience of driving by providing a far better rear and side observation including in darkness, and reliably prevent, if an accident/violation occurs, from misjudging, owing to an unbeatable legal evidence through recording the objective pattern of the accident/violation . It is accomplished by positioning into a vehicle an onboard digital camera having at least one lens with a photo-receiver, shooting permanently the surroundings at an predetermined frequency, showing images captured on at least one onboard screen, and making the running sequence of images through digital memory so that a latest image captured is recorded and stored in digital memory expelling an oldest one and the overall amount of the images and, hence, duration of time recorded does not change.

Abstract: Images of objects existing behind a first vehicle are detected to obtain distance data on the objects in relation to the first vehicle for recognizing one of the objects as a second vehicle travelling behind the first vehicle based on the distance data. The type of the second vehicle travelling behind is determined in size based on the images. It is further determined whether the second vehicle is an emergency vehicle based on the images.

Abstract: An object recognition system includes one or more image sensors and a controller that is adapted for measuring the distance from the system to objects with respect to respective windows of an image captured by the sensors is provided. The controller forms clusters by uniting adjacent windows that have similar measured distances. The system includes a memory for storing data on a previously recognized physical object. The controller infers a physical object based on data on a previously recognized physical object and the speed of the vehicle relative to a previously recognized physical object and wherein said controller determines a combination of clusters that best matches the inferred physical object. The controller groups the clusters into one or more cluster groups according to the distance from the vehicle carrying the system and selects from one of the cluster groups those clusters that overlaps with a physical object inferred by the controller.

Abstract: A method for determining the reference plane in multi-dimensional data is disclosed.

Abstract: A recognition system which obtains and analyzes images of at least one object in a scene comprising a wide field of view (WFOV) imager which is used to capture an image of the scene and to locate the object and a narrow field of view (NFOV) imager which is responsive to the location information provided by the WFOV imager and which is used to capture an image of the object, the image of the object having a higher resolution than the image captured by the WFOV imager is disclosed. In one embodiment, a system that obtains and analyzes images of the irises of eyes of a human or animal in an image with little or no active involvement by the human or animal is disclosed.

Abstract: A method and system for ranging an object are disclosed. The method includes illuminating a field of view potentially including the object, synchronously receiving reflected signals from the field of view with and without illumination, capturing first and second images within an array, and generating a subtraction image using the images. One image is captured in the array while the other image is in the array. The first and second images include reflected signals from the field of view with and without illumination, respectively. The array includes first and second groups of lines that are unmasked and masked, respectively. In one exposure, the first group of lines is loaded with the first or second image. The image in the first group of lines is shifted into the second group. In another exposure, the first group of lines is loaded with the other image, which is shifted into the second group.

Abstract: A human tracking device according to the present invention stably tracks a human with good perception of the distance to a human with high resistance against disturbance. A camera image is divided into a human region and a background region. Then, each area of the image is judged whether or not the human region can be divided into a plurality of blob models corresponding to parts of a human. The parts of a human are preferably the head, trunk and legs. When the result of the judgment is “YES”, a plurality of human blob models are produced based on the human region. When the result of the judgment is “NO”, a single human blob model is produced based on the human region. The human is then tracked based on these human blob models. In this way, the human can be stably tracked with good perception of the distance to the human and with high resistance against disturbance.

Abstract: Disclosed is a computer-assisted method for analyzing the surroundings of a display device. At least two different patterns are displayed successively on a display device connected to a computer. A camera is also connected to the computer and is directed towards objects in front of the display device. Each time a pattern is displayed on the display device, at least one image of the surroundings is captured. The captured images are combined to create a difference image. The difference image is analyzed to interpret the objects in the surroundings. For example, calculations may be performed to segment the foreground from the background of the surroundings or to estimate the range (distance) of the objects from the display device. An apparatus for performing this computer-assisted method is also disclosed.

Abstract: A range finder device, for measuring, when a plurality of projected lights having radiation patterns whose light intensity differs three-dimensional space-wise are irradiated onto an object from a light source on a time-sharing basis to image-pick up reflected light of the projected light from the object with a camera, a distance using the light intensity of an image picked up, characterized in that, with respect to each of a plurality of surfaces including the center of the light source and the center of a lens, there is obtained, in advance, relation between an angle of each projected light from the light source and light intensity ratio in each surface, characterized in that, at the time of actual distance measurement, light intensity of each pixel of the camera is measured, and on the basis of the light intensity thus measured, and relation between the angle and the light intensity ratio on a predetermined surface corresponding to a coordinate position of the pixel measured, there is obtained the angle co

Abstract: A position measurement apparatus and method using laser includes a laser generating device, an image device, and a control unit. The laser generating device generates three or more laser beams progressing in parallel with each other at regular intervals. The image device obtains a picture for three or more points formed on a target by the laser beams. The control unit calculates a position relative to the target using number of pixels between pairs of neighboring ones of the three or more points in the picture. Thus, the present invention is advantageous in that laser pointers and a CCD camera having simple constructions and low prices are used, so that the position measurement apparatus is handled conveniently and is economical.

Abstract: An image analysis device installed on a vehicle for detecting objects that are likely to affect the vehicle. An image processing unit included in the image analysis device sets a seeking area in a left-hand image of the field, and calculates a moving increment for seeking “Step” using a variable “n”. A correlation calculation process is sequentially executed in the seeking area set in the left-hand image of the field while moving a reference image stepwise at the moving increment “Step” so as to obtain a correlation area that gives the highest degree of correlation, and then a new seeking area is set, which consists of the correlation area and horizontally arranged two areas that sandwich the correlation area, and the moving increment “Step” is decreased in order to reduce the amount of calculation.

Abstract: In a three-dimensional data acquisition system, coordinate transformation and geometric error correction are avoided by representing data in a sensor array coordinate system (i,j,k) rather than a conventional (x,y,z) coordinate system. A preferably point-sized sub-region is defined for each potential region of interest for a virtual input device subject to interaction with a user-controlled object. The (i,j,k) coordinate system used relates to raw data, and correction for several types of geometric error and optical lens error are avoided by determining interaction with such raw coordinate data. As a result, substantial processing overhead may be avoided.

Abstract: One embodiment of the invention determines position of an object with respect to an original location. A first relative position of the first object with respect to a second object in a first scene is computed using a current first image of the first object and a second image of the second object provided by at least first and second image sensors. The current first image in the first scene is matched with a next first image of the first object in a second scene. The second scene contains a third object having a third image. A second relative position of the third object with respect to the second object in the second scene is computed using the third image and the next first image.

Abstract: The present invention relates to a pattern-matching processing method based on left and right images of an object photographed in stereo. A left area and a right area are generated, each having a fixed pattern containing plural pixels extracted from the left and right images, respectively, and in the left area, a reference image is generated by calculating an interpolation pixel value to be used between two transversely adjacent pixels based on the average of the two pixel values, and by calculating an interpolation pixel value to be used between two vertically adjacent pixels based on the average of the plural pixel values surrounding the relating position. Similarly, in the right area, interpolation pixel values are calculated and a comparison image is generated. Then pattern matching is performed between the reference image and the comparison images generated sequentially by shifting the right original image pixel by pixel.

Abstract: A camera unit is arranged opposite a grinding surface. While moving the focal position of the camera unit in a direction perpendicular to the grinding surface relative to the grinding surface of the grinding tool, a control unit causes the camera unit to pickup images of the grinding surface at a plurality of focal positions. Then, an already prepared basic image pattern of abrasive gains is compared with the image data obtained at the plurality of focal positions by the image pickup operation. As a result of the comparison, image data approximate to the basic of the focal position at which the detected image data was obtained.

Abstract: A three-dimensional shape measuring apparatus capable of simultaneously obtaining range information and luminance information with high precision, independently of an object. A controller scans slit light, emitted from a laser beam source and shaped by a cylindrical lens, on an object plural times, by mirror surfaces of a polygon mirror, while causing the laser beam source to flash by using a laser beam source driver. The slit light is time-sequentially combined into projection pattern light having plural light stripes, respectively 3-level or more intensity-modulated, and the projection pattern light is projected onto the object. An image processor obtains the range information and the luminance information based on reflection light obtained by image pickup by first and second cameras.

Abstract: A passive electro-optical range and total velocity measuring system having first and second cameras positioned along a common baseline. Control systems activate the first and second cameras at a first instance to capture a target image of a target at location T1 and at a second instance to capture a target image of the target at location T2. A range computer calculates ranges from the first camera, the second camera, and a baseline midpoint to a target at location T1 and location T2. An angles computer calculates target displacement. A velocity computer calculates total total target velocity, track velocity, and cross-track velocity. The present invention also includes a method for measuring the range and total velocity of a target using a passive electro-optical system.

Abstract: An improved circuit board inspection system incorporates self learning techniques for accurate determination of Z-axis elevations of electrical connections. A Delta Z, referenced to a laser range finder generated surface map of the circuit board, is automatically determined from a series of cross sectional images of the electrical connections for each electrical connection on the circuit board. The Delta Z values for each electrical connection are stored in a data base from which customized Delta Z values for specifically defined board views may be calculated.

Abstract: A method of creating at least one depth map for an image sequence including the steps of receiving depth data for a plurality of points in the image sequence, utilising the depth data and a classifier to ascertain depth characteristics as a function of image characteristics and relative position and creating a depth map for at least one frame of the image sequence utilising the image characteristics.

Abstract: The invention can determine whether a collision has occurred, whether an airbag should be deployed, and what the desirable strength of an airbag deployment should be based on occupant characteristics obtained from the segmented image of the occupant. Using interacting multiple model Kalman filters, the invention can infer three-dimensional characteristics from a two-dimensional image, and predict the location, velocity, and acceleration of the occupant. Kalman filters are used with respect to all measurements to incorporate past predictions and measurements into the most recent estimates and predictions in order to eliminate the “noise” associated with any particular measurement. The system can predict the position and shape of the occupant at a faster rate than the rate at which the sensor collects data. Occupant characteristics can be compared to corresponding predetermined data associated with various occupant modes, including the mode of crashing, to determine if a collision has occurred.

Abstract: A given visual field is divided into a plurality of areas, and brightness information in the areas is detected at predetermined time intervals and stored as information of a mobile body in a memory of a motor vehicle monitoring apparatus on a motor vehicle. The bright information detected in the areas at different times is then read from the memory, and a motion of the brightness information between adjacent ones of the areas is detected as a one-dimensional optical flow. The detected one-dimensional optical flow is compared with a one-dimensional optical flow generated from a road due to the speed of the motor vehicle, for thereby detecting another motor vehicle which is moving toward the motor vehicle.

Abstract: The invention intends to achieve higher accuracy and higher speeds in image processing based on a stereo method. Images from a plurality cameras are applied to respective image input portions and stored in built-in memories. The stored images are then read out in a certain sequence to cancel lens aberrations of the cameras, and output to respective SAD circuits after being compensated for the differences of intensity values due to variations in the characteristics of the cameras. The SAD circuit calculates an absolute value of the difference for each pixel value between a reference image output from a reference camera and two compared images output from another two cameras, and outputs the calculated value to an SSAD circuit. The SSAD circuit performs a block matching process upon outputs from the corresponding SAD circuit, and outputs the obtained results to a second-order portion.

Abstract: An image collating center has a communication unit, a processing unit, and a memory unit. The processing unit accesses a geographic information database through a communication network, extracts appropriate geographic information from the geographic information database based on a picked-up image and additional information transmitted from an image provider, and simulatively generates a simulated image assumed to be viewed from the image provider. Further, the image collating center estimates the image pickup position and the image pickup attitude of the image provider through collating the simulated image with the picked-up image and returns the estimated image pickup position and image pickup attitude of the image provider to the image provider through the communication network.

Abstract: In an image processing computer system for a photogrammetric measurement in which a survey map is produced based on plural pictures under a three-dimensional coordinate system, a picture-arranging system rearranges the pictures to select plural pairs of pictures from among the pictures such that each pair of pictures is fixed to produce a survey map section, and a picture-connecting system successively connects the plural pair pictures to each other. A monitor displays a scene including first and second display areas. The pairs of pictures are selectively displayed on the first display area, and a pair of object points corresponding to each other on two pictures in each pair are indicated. The coordinates of an object point represented by the pair of indicated object points are calculated, and the calculated coordinates on a plane defined by the coordinate system. The projected coordinates is displayed as a point representing said object point concerned on the second display area.

Abstract: A patterned mask is located at a distance from a linear detector array. A point radiating source illuminates the aperture to cast an image onto the array. A computer is employed to identify frequencies in the frequency domain to determine the image scale and shift along the detector array axis. Determination of the magnification of the aperture image is made employing frequency domain techniques, the aperture pattern being re-scaled to match that of the actual image, so that determination of pattern shift can be made. A first embodiment of the present invention has two variations, one of which employs the use of multiple single frequency components and phase methodology, the second of which uses multiple single frequency components as well as a variable frequency component. In a second embodiment, a composite image is also used except that only one single frequency component is used in addition to a non-periodic function.

Abstract: A method and apparatus for determining the distance of each pixel or a set of pixels in images acquired by cameras and thus imaging the three-dimensional profiles of objects in the images is described A source of illumination is projected through a mask of two-dimensional pattern onto the objects and images from predetermined and different view points are captured by a camera or cameras. A computer algorithm is used to identify a pixel or a set of pixels in each area of the pattern in each acquired image. The distance of the pixel or the set of pixels in the images is uniquely calculated by using the X, Y coordinates of the pixel or the set of pixels in the images of different view points and the positional relationship of the different view points. The three-dimensional profile of objects in the images is determined by collecting the distance information of each pixel or an area of pixels in the images.

Abstract: Apparatus and methods for enhancing the accuracy of height above ground measurements in which the registration error between successive images taken of the terrain over which an aircraft is flying is minimised, the earlier image having first been transformed according to measurements of the aircraft linear and angular velocities, the focal length and attitude of the image sensing means, and an initial, coarse height estimate. By an iterative process, a more accurate height estimate is obtained.

Abstract: A camera for imaging the periphery of a vehicle is provided, images imaged by the camera are stored, and a processed image obtained by processing a past image which has been imaged before reaching a current position is overlaid on a part of a current image, which is currently imaged, being a blind spot region by being hidden by a car body or the like so that a combination image is created. A contour line symbolizing the car body is combined with the combination image and the image is displayed.

Abstract: A photogrammetric apparatus for capturing a single image of an object, capturing a plurality of data about the image, analyzing the data, and computing relationships between substantially coplanar points in the image. The apparatus includes an image capturing device that captures images and stores the images in a storage device with database. The database simultaneously receives and stores data from a bearing finding device, a range finding device, and an azimuth finding device. The apparatus may include a global positioning system (GPS) device to collect and store to the database a geophysical location of the image capturing device when the image was captured. The apparatus includes an image processor to analyze the images and data stored in the database. The image processor includes routines for calibrating the apparatus, measuring distances between substantially coplanar points in the image, and calculating a plurality of relationships among various coplanar points in the image.

Abstract: The object distance display apparatus displays object distances according to actually measured object distance data entered in advance, matched with focusing lens positions acquired from a television lens device, and enables, when the apparatus is connected to the television lens device, any data entry error to be readily identified by graphically displaying the object distance data entered in advance. Actually measured object distance data entered in advance, matched with focusing lens positions, can be graphically displayed on an LCD panel with a touch panel function of the apparatus. If any abnormal datum such as an input error is detected, it can be deleted by touching a delete switch.

Abstract: The invention intends to achieve higher accuracy and higher speeds in image processing based on a stereo method. Images from a plurality cameras are applied to respective image input portions and stored in built-in memories. The stored images are then read out in a certain sequence to cancel lens aberrations of the cameras, and output to respective SAD circuits after being compensated for the differences of intensity values due to variations in the characteristics of the cameras. The SAD circuit calculates an absolute value of the difference for each pixel value between a reference image output from a reference camera and two compared images output from another two cameras, and outputs the calculated value to an SSAD circuit. The SSAD circuit performs a block matching process upon outputs from the corresponding SAD circuit, and outputs the obtained results to a second-order portion.

Abstract: An eye image pickup apparatus includes an image pickup unit, a guide mirror, a range sensor, and an infrared illuminating section. The image pickup unit includes an objective lens, an image pickup element such as a CCD, a shooting section and a light guide section as a basic configuration, and the image pickup unit shoots an image of an eye of a person. The guide mirror guides a subject to a shooting position. The range sensor measures the distance between the image pickup apparatus and the subject. The infrared illuminating section illuminates the subject. Rough guidance of the user is made using the guide mirror and fine alignment is made by using a guiding visible light obtained from the light guide section.

Abstract: An image size changing section obtains a size-changed image by changing the size of one of two original images captured by a pair of cameras. If an edge of an object has many oblique components, the edge is difficult to detect as a vertical edge but, when the image is horizontally reduced, an oblique edge becomes close to a vertical edge. For this reason, a feature end points are extracted with reliability by a feature extracting section and, thereby, an object is recognized and the distance to the object is determined reliably.

Abstract: A pre-crash system (10) has a controller (12) coupled to an object sensor (18). Object sensor (18) has a vision system (22) that includes image sensors to detect an impact and in particular, a side impact. The image sensors provide a high frame rate to a video-processing chip (32) which in turn is coupled to a general purpose controller (34). The general-purpose controller 34 determines whether an object is an impending threat and controls the deployment of an airbag through an airbag controller (36) or other counter-measure. The high frame rate used in the present invention allows not only the distance to the object but the velocity of the object as well as the acceleration of the object to be determined and factored into the deployment decision.

Abstract: The preferred embodiment of the invention includes hardware and software for scanning objects and extracting their geometry and color information so as to generate their 3D (three dimensional) representations in a computer. The preferred embodiment uses a computer, a video camera, a light source, and an indicator located within the field of view of the camera in a fixed position. Preferably, the light source projects a crisp line of light on the scanned object. The software of the preferred embodiment processes the frames produced by the camera. It preferably locates the illuminated line and the indicator, and uses this information to determine 3D coordinates of the illuminated points. The 3D coordinates of the points are used to construct 3D representations of objects. The preferred embodiment also obtains color information of the scanned object and maps it to the 3D representation.

Abstract: A system and method assists the driver of a motor vehicle in preventing accidents or minimizing the effects of same. In one form, a television camera is mounted on a vehicle and scans the roadway ahead of the vehicle as the vehicle travels. Continuously generated video picture signals output by the camera are electronically processed and analyzed by an image analyzing computer, which generates codes that serve to identify obstacles. A decision computer mounted in the controlled vehicle receives such code signals along with code signals generated by the speedometer or one or more sensors sensing steering mechanism operation and generates control signals. Such code signals may be displayed, and a synthetic speech or special sound generating and warning means used, to warn the driver of the vehicle of approaching and existing hazards.

Abstract: A walking auxiliary is provided for a person with impaired vision which provides sufficient information of obstacles and so on when he takes a walk. This invention includes two CCD cameras 11, 12, an image processing unit 14 which measures a distance to an obstacle based on the image pick-up signals of the CCD cameras 11, 12, converts the stereo information to plane information based on the stereo information obtained from the distance and takes it as a control signal of the actuators, and an actuator control unit 15 for driving an actuator array 16 based on the control signal, and transmits the existence of the obstacle somatosensorially by driving the actuator array 16.