| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving object detection apparatus that can image a monitored area and accurately detect moving objects from captured images and can increase the processing speed. SOLUTION: The moving object detection apparatus 1 comprises a stereo camera 2, a stereo image processing part 6 for calculating distance data dp from a pair of captured images, motion state detection means 14 and 15 for detecting motion states of the stereo camera 2, a prediction part 12 for using one image as a target image T<SB>0</SB>, and on the assumption that there is a stationary object at pixel coordinates of a given pixel of the target image T<SB>0</SB>captured at a certain time, predicting image coordinates to which the stationary object will move apparently on the target image T<SB>0</SB>by the next time according to the distance data dp and the motion states of the stereo camera 2, and a detection part 13 for detecting a moving object from a target image T<SB>1</SB>captured at the next time according to the difference between a luminance value p1ij at the predicted image coordinates and a luminance value at the pixel coordinates on the target image T<SB>1</SB>. COPYRIGHT: (C)2008,JPO&INPIT
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