| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving object detecting device capable of preventing any erroneous detection of the shadow of one's own vehicle as a moving object. SOLUTION: Two images are picked up by a camera 12 while a vehicle is moved. The two images are subjected to birds-eye view conversion in a birds-eye view conversion means 18. After unifying the coordinate systems of the two images after the birds-eye view conversion by a coordinate system unifying means 20, the difference between the two images is calculated by an image difference means 22. According to the result of difference, a detection area detected as a candidate of a moving object is subjected to the polar conversion by a polar conversion means 24. A one's own vehicle shadow discrimination means 26 discriminates whether or not the detected area is caused by the shadow of one's own vehicle based on the shape of the detected area after the polar conversion. A moving object detection means 28 detects the area discriminated not to be caused by the shadow of one's own vehicle out of the detected area by the result of difference of the image difference means 22 as the moving object. COPYRIGHT: (C)2009,JPO&INPIT
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