| 摘要 |
PROBLEM TO BE SOLVED: To identify a moving article in high-speed and high-accuracy by easily setting, or without setting, a threshold for separating a moving zone.SOLUTION: An outside-vehicle environment recognition device performs: identifying a moving zone candidate by calculating an optical flow with a block of a given size by means of pattern matching of a partial image, as a first step; identifying a moving zone in high accuracy by zone unit smaller than the block, such as by pixel unit, in a limited zone such as a comparison zone that includes a moving zone candidate and is larger than the moving zone candidate by using brightness of the partial image (image information), as a second step; and identifying a moving zone 252 accurately by using the fact that the relationship of brightness is inverse between a first differential image 218 obtained by calculating a difference by overlapping moving zone candidates and a second differential image 224 obtained by calculating a difference by overlapping background zones. |
