| 摘要 |
PROBLEM TO BE SOLVED: To precisely determine a division region where a focus of expansion (FOE) exists by lightening a calculation load, and to quickly detect the FOE with a small calculation load. SOLUTION: The photographic image of the periphery of a vehicle photographed by an image pickup device 2 loaded on a vehicle 1 is divided into a plurality of division regions by a picture division means 31, and the optical flow of each division region is calculated by a flow calculation means 35, and an extension is calculated by extending the optical flow of each division region by an extension means 33, and a division region where at least the prescribed number of extensions pass of the photographic image pass is determined as a candidate region where there is possibility that the FOE may exist of the photographic image by a region determination means 34, and the FOE is calculated from the highly reliable candidate region narrowed down with a small calculation load without performing any complicate arithmetic operation to calculate the intersection of the extensions of segments in parallel with the road of the photographic image. COPYRIGHT: (C)2011,JPO&INPIT
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