| 摘要 |
PROBLEM TO BE SOLVED: To precisely detect a moving object with a low processing load even when a vehicle turns around.SOLUTION: An outside environment recognition device 120 includes: an image data acquisition section (I/F section 150) that acquires image data; a flow vector derivation section 162 that extracts a flow vector for each block of an image divided based on the image data; a grouping section 164 which generates a block group by grouping blocks, the flow vector of which is similar in the direction and magnitude and which are neighboring to each other, and calculates a representative flow vector as a representative value; a moving-state obtaining section 166 that acquires a movement of an imaging device; a flow vector subtraction section 170 that subtracts a flow vector of part corresponding to a representative portion of the block group in a flow vector of the ground corresponding to the movement from the representative flow vector; and a stationary object determination section 172 that discriminates the stationary object from the moving object in the block group according to a scalar quantity of the flow vector after the subtraction. |
