A system for realizing support of safety driving or automatic driving, in which a vehicle-mounted stereo camera is used to detect obstacles on a road surface even in the presence of a reflected image of an obstacle under a wet road condition. The system includes two cameras, an image transforming section...http://www.google.co.uk/patents/US6990253?utm_source=gb-gplus-sharePatent US6990253 - System and method for detecting obstacle
