| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a mobile body detector for more reliably detecting a mobile body which moves in every direction. <P>SOLUTION: A mobile body detector includes: a motion vector generation part for taking in a camera image photographed by a camera mounted in a vehicle and generating motion vectors at a plurality of points P of an image; a self vehicle movement parameter estimation part for estimating rotary components (Rx, Ry, Rz) of a self vehicle movement parameter as being equal to inclination from a point P to a vanishing point when correcting the inclination of the motion vectors at the points P is corrected by the rotary components of the self vehicle movement parameter; and a mobile body determination part for correcting the inclination of the motion vector at an arbitrary point Q in the image by using the rotary component of the self vehicle movement parameter, comparing the inclination of the motion vector after correction with inclination of a line joining the arbitrary point Q and the vanishing point, and detecting a mobile body having a different direction from the self vehicle moving direction when the correspondence is small. <P>COPYRIGHT: (C)2012,JPO&INPIT |
