| 摘要 |
<P>PROBLEM TO BE SOLVED: To determine with high accuracy whether or not an object in an image obtained by photographing an object imaging area is really an object for detection. <P>SOLUTION: From a stereo image obtained by photographing the object imaging area, a candidate area is obtained which is predicted as a solid body and has a calculated identification value of no less than a predetermined value. The obtained candidate area is collated with past candidate area series a0-a5 and b0-b4 stored in a storage. On the basis of the collation, the storage is updated so as to add a candidate area (a0-a6 and b0-b5) in case the above corresponds, or to generate a new series (c0) in case there is no corresponding series. A mean of the identification values is obtained for each series a0-a6, b0-b4 and c0. For each corresponding time, the obtained mean value of the identification values is compared with a plurality of thresholds having a smaller value as a retroactive time becomes longer, and thus, it is determined whether or not the series of the candidate area is the detection object. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
