| 摘要 |
The invention detects an obstacle with which a moving body is likely to come into contact as a result of the movement of the moving body, on the basis of an image of the view in the direction of travel of the moving body. An obstacle detecting device (10) is provided with: an image receiving unit (11) which receives a first image and a second image in which the view in the direction of travel of a moving body (1) is captured at a first time point and a second time point, after the first time point, respectively; a zone setting unit (12) which sets a first detection zone (34) within the first image and a second detection zone (36) within the second image, in accordance with a zone (33) occupied, in the zones captured in the first image and the second image respectively, by a vertical cross section of the moving body (1) perpendicular to the front-rear direction of the moving body (1) if the moving body (1) is located in a predicted location (Pa) at a third time point after the second time point; and a determining unit (13) which determines whether or not an object detected at a first location within the first detection zone (34) is an obstacle, depending on whether or not the object is detected in a second location, associated in advance with the first location, within the second detection zone (36). |
