| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an obstacle detecting device for determining a behavior of an obstacle. <P>SOLUTION: The obstacle detecting device comprises an image pick-up means 1 for photographing a periphery of a movable body with a predetermined period, a tracking region detecting means 2 for detecting a tracking region corresponding to an image of at least relatively moving obstacle based on the image picked up by the image pick-up means, a region moving amount calculating means 3 for determining an image coordinate value before and after the movement of the tracking region detected by the tracking region detecting means based on two images picked up by the image pick-up means with different timings, a calculating means 4 of an image pick-up means moving amount for detecting the moving amount of the image pick-up means 1, an obstacle indication value calculating means 5 for calculating an indication value related to a relative position of the obstacle based on the image coordinate value of the tracking region before the movement, the image coordinate value of the tracking region after the movement, and a movement mount of the image pick-up means, and a determining means 6 for determining the behavior of the obstacle based on the indication value. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
