| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile-object recognition system for removing an outlier of an optical flow by using a smaller operation quantity.SOLUTION: A mobile-object recognition system includes: a connected optical flow calculation part 20, disposed in a vehicle, for calculating a connected optical flow by extracting a feature point mutually corresponding between images of plural frames and connecting a plurality of unit optical flows interconnecting the extracted feature points of adjacent frames; an outlier removal part 51 for removing an outlier on the basis of linearity of the connected optical flow and removing the outlier on the basis of a degree of similarity of impact time between the plurality of connected optical flows with different numbers of unit optical flows for the same feature point; and a group determination part 52 for grouping, as plural feature points on a mobile object, plural feature points whose extended optical flows converge onto one vanishing point, among plural feature points remaining after a connected optical flow is removed as an outlier. |
