we had known that the vibration of a car running on the road is 
more influenced by a pitch than by a yaw and roll. Therefore, 
we shifted one of the two consecutive images up and down, and 
calculated the correlation between two images is maximized. 
the X-Z plane. We can judge that the peak is about 6 meters 
from Figure 12(b). Here we supposed that the building surface 
facing the street. And the peaks on the histogram are the 
prospective of building boundary in Figure 12 (a). Using these 
results, we conducted the matching with the method. The lines 
in Figure 13 signify the building boundaries after matching. 
| 
m 
    
   
   
   
Figure 11: Source image 
frequency 
  
(a) The 3D measured points on depth-map and histogram 
  
(a)The n-th image which carried out 
Goran projection conversion 
  
(b) The histogram on the X-Z plane 
  
Figure 12: Results of histogram of 3D measured points (a)The n+1-th image which carried out 
projection conversion 
We analyzed the EPI to make the slit image, and build the depth Figure 14: The image which we made by projection conversion 
map. Figure 12(a) showed the 3D measured points on the depth- 
map and its histogram. Figure 12(b) showed the histogram on 
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