DISTANCE MEASUREMENT DEVICE AND ENVIRONMENT MAP GENERATION APPARATUS

Based on an image imaged by an imaging unit (2), feature points of a plurality of objects present around a vehicle are detected by a feature point detecting unit (35). A first distance from the feature point to the imaging unit (2) is calculated based on a temporal change of the feature point. A second distance from a certain object included in the plurality of objects present in the image to the imaging unit is calculated using some pixels of the certain object. The first distance of the plurality of feature points, other than the certain feature point, simultaneously detected by the feature point detecting unit (35) is modified based on a ratio of the first distance and the second distance.