| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect an intersection entry port.SOLUTION: In an intersection detecting method for detecting an intersection entry port by using an image captured by a camera mounted on a mobile body, an image is acquired, a feature quantity showing likelihood of an intersection in the image is calculated, it is determined whether or not the image is an image captured in an intersection on the basis of the feature quantity, the image captured in an intersection is determined as a start image for search, images are sequentially selected in reverse order of photographic order of the images, a level difference of a motion vector of the image is searched for and an intersection entry port is identified based on the level difference of the detected motion vector. |
