| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a vehicle environment monitoring apparatus capable of extracting an image of a monitored object in an environment around a vehicle by separating the same from the background image with a simple configuration having a single image picking-up means on the vehicle. <P>SOLUTION: The apparatus includes a first image portion extracting processing means to extract first image portions (A1, A2) considered to be the head of a pedestrian from a currently picked up image and a previously picked up image by an infrared camera, a mask area setting processing means to set mask areas M1(0, 0), M1(1, 0), ..., M1(5, 8) around the first image portion (A1) in the currently picked up image, and an object extracting processing means to carry out pattern matching for the previously image by a comparison pattern obtained through affine transformation of each mask area at a change rate Rate between A1 and A2, and to set an area Arl including a second image portion M2(1, 3), M2(2, 3), ..., M2(3, 6) where a displacement amount between the position (black point) corresponding to the centroid of the mask area and the matching position is smaller than a predetermined threshold value and the first image portion A2 to be an image area of the monitored object. <P>COPYRIGHT: (C)2008,JPO&INPIT |
