| 摘要 |
A behavior detector and a behavior detection method for a vehicle. A controller extracts multiple characteristic points out of an image captured using a camera and computes the velocities and the directions that the respective extracted characteristic points move in the image. Then, the controller computes the times (TTC) until vehicle collision with the respective characteristic points based on the computed velocities and the directions that the respective extracted characteristic points move in the image. Distant characteristic points are designated based on the computed TTCs, and movements of the distant characteristic points are monitored in order to detect pitching and yawing of the vehicle.
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