Moving object recognition systems, moving object recognition programs, and moving object recognition methods

摘要

The present invention provides a moving object recognition system that senses a danger of collision of a moving object by using a monocular camera, instead of a relatively expensive sensor such as a stereo camera or a distance sensor. The moving object recognition system (100) includes: a camera (10) that is installed in a vehicle and captures continuous single-view images; a moving object detecting unit (20) that detects a moving object from the images captured by the camera (10); a relative approach angle estimating unit (30) that estimates the relative approach angle of the moving object detected by the moving object detecting unit (20) with respect to the camera (10); a collision risk calculating unit (40) that calculates the risk of the moving object colliding with the vehicle, based on the relationship between the relative approach angle and the moving object direction from the camera (10) toward the moving object; and a reporting unit (50) that reports a danger to the driver of the vehicle in accordance with the risk calculated by the collision risk calculating unit (40).