| 摘要 |
PROBLEM TO BE SOLVED: To identify a flow derived from a stationary object by distinguishing it from a flow derived from a moving object.SOLUTION: An optical flow processor includes: a camera 10 which sequentially takes images around an own vehicle MT; a block arrangement unit 42 which arranges plural blocks BT and DT of a predetermined size in a region of an image IM that will be subjected to flow detection; a flow extraction unit 12 which extracts a flow Flw by searching block images TM having a high degree of coincidence AD between two sequential images IM; a flow direction calculation unit 74 which calculates a direction of the flow Flw in a real space and extracts a reverse flow FlwR whose direction is opposite to a driving direction of the own vehicle MT; and a repetitive pattern determination unit 76 which determines the reverse flow FlwR as a repetitive pattern RP that is present in the periphery of the own vehicle MT. |
