| 摘要 |
PROBLEM TO BE SOLVED: To ensure distinction between a mobile body and a stationary body on an image picked up. SOLUTION: A trackable area detection part 30 divides the image picked up by an image pickup part 10 into a plurality of areas and detects a trackable area in each of the areas where the mobile body is trackable. A local area tracking part 50 detects between image pickup intervalsΔt the amount of movement that the trackable area moves over the image. A distance index value calculating part 70 calculates the distance L to an object imaged in the trackable area and a height index value calculating part 80 calculates the height H in the real space of the object imaged in the trackable area. Based on the distance L, the height H and the distance traveled by a vehicle during the given period of timeΔt that is detected by a one's own vehicle movement detection part 60, a movement area detection part 90 calculates the distanceΔy that the trackable area moves in y direction over the image during the period of timeΔt. According to a difference between the distanceΔy and the amount of movementΔy of the trackable area in y direction that is determined from coordinate values on the image, a determination is made as to whether the trackable area is the area of the mobile body or the area of the stationary body. COPYRIGHT: (C)2006,JPO&NCIPI
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