| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To reduce an effect of vibration caused by the movement of an own-vehicle in detecting an obstacle using a single camera. <P>SOLUTION: An obstacle detection apparatus includes an image input section 1 for inputting a moving image taken by a camera 10; a velocity detection section 2 for obtaining a velocity vector, which is velocity information on the image in regard to a point or an area in the image; an estimated course calculation section 5 for calculating an estimated course of the own-vehicle, that is, a moving body having the obstacle detection apparatus mounted thereon; an obstacle detection section 3 for detecting the obstacle based on the estimated course of the own-vehicle and the distribution of the velocity vectors in the image; and an obstacle information output section 4 for obtaining information related to the obstacle, including a distance to the detected obstacle and a time to collision, and outputting the obtained information to a control unit and the driver of the own-vehicle. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
