| 摘要 |
PROBLEM TO BE SOLVED: To surely detect a position of a moving object with high precision by using only images around a vehicle.SOLUTION: A rear camera 12 (image acquisition part) mounted on a vehicle 10 acquires source images I (x, y and t) around the vehicle 10, a motion region detection part 54 (first object detection part) detects an object from among the source images I (x, y and t), and a differential calculation part 58 (second object detection part) detects the object from among overview images J (x, y and t), generated by an over view image generation part 56, in the overview of the vehicle 10. If a detection object discrimination part 60 discriminates that the objects that are detected by the motion region detection part 54 and the differential calculation part 58 as the same moving object, a moving object position identification part 62 identifies a position of a moving object on the basis of a distance Dk from the vehicle 10 to the object detected by the motion region detection part 54 or the differential calculation part 58, a horizontal direction position FXk of the object and an actual width Wk of the object detected by the motion region detection part 54.SELECTED DRAWING: Figure 2 |
