| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device capable of efficiently detecting an object such as obstacles by reducing a processing load. <P>SOLUTION: From a photographed image, characteristic points are detected (step S102) and the characteristic point data groups from the past to the present are stored in a memory (step S104). The characteristic points of which the characteristic quantity is over a specific value in the present characteristic point data groups are marked as detection object candidate points (step S105), the past characteristic point data groups of the detection object candidate points are extracted and tracking processing is performed for the detection object candidate points (steps S106, S107). Based on the image position from the past to the present and the history of optical flow of the detection object candidate points obtained as the results of the tracking processing, obstacles are detected (step S109 to S113). <P>COPYRIGHT: (C)2006,JPO&NCIPI |
