摘要 |
An object detector includes a brightness change calculating section ( 103 ) that calculates the change in brightness in an image, a three-dimensional object detecting section ( 105 ) that uses three-dimensional information measured from a plurality of images to detect a three-dimensional object, an object candidate extracting section ( 106 ) that refers to the three-dimensional object detection results and the brightness change calculation result to extract a moving object candidate area and a still object candidate area, and an object judging section ( 107 ) that judges whether or not the candidate area is an object. In this way, the object detector refers to the change in brightness in the area detected as a three-dimensional object to judge whether the detected three-dimensional object is a moving object or a still object. Therefore, a still object in the image can be accurately detected without using background difference processing.
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