| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving body detection apparatus, capable of detecting a moving body with good accuracy from an image of a wide view angle obtained from a mobile body. SOLUTION: The moving body detection apparatus includes an imaging device 10 for obtaining wide view angle images from the mobile body at first and second time points; an edge acquisition section 101 for obtaining edges of radial direction from the wide view angle images at the first and the second time points, respectively; a frequency distribution generation section 102 for generating edge frequency distribution by defining a frequency to be the magnitude of the edge in the radial direction at each of the first and the second time points; a clustering section 104 for clustering a consecutive plurality of histogram bins included in the edge frequency distribution at each of the first and the second time points, as an identical class; a moving amount estimation section 105 for estimating the moving amount of the class between the first and the second time points; a candidate detection section 106 for detecting moving image candidates based on the moving amount; and a moving body detection section 107 for detecting the moving body from the moving body candidates. COPYRIGHT: (C)2009,JPO&INPIT
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