| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring device for reducing a calculation amount and accurately estimating camera movement without tracking feature points between time-sequential images of a camera.SOLUTION: The vehicle periphery monitoring device executes: feature point extraction processing for extracting first feature points P1-P3 and extracting second feature points Q1-Q3 for a first picked-up image Im1 and a second picked-up image Im2 picked up at different points of time; temporary camera movement optimization processing for setting a temporary camera movement Mk when picking up the second picked-up image Im2, obtaining second epipolar lines EL11-EL13 in the second picked-up image Im2 corresponding to the respective first feature points, extracting the second feature point whose distance to the second epipolar line is minimum, defining the minimum distance as the distance error d of the respective first feature points, and obtaining the temporary camera movement Mk where the total sum of the distance errors of the respective first feature points becomes minimum; and camera movement estimation processing for estimating the temporary camera movement Mk where the total sum of the distance errors d becomes minimum as the camera movement. |
