MONITORING APPARATUS, MONITORING METHOD, AND PROGRAM FOR MONITOR

摘要

PROBLEM TO BE SOLVED: To accurately detect an approaching object even while curving in a monitoring apparatus for a vehicle in which the approaching object is detected by using an optical flow.

SOLUTION: An optical flow detecting part 12 finds an optical flow Vi from an image photographed by a camera 11. Based upon a movement of a relevant vehicle estimated by a present vehicle movement estimating part 13 and a space model in which a space under photographing by the camera 11 is modeled estimated by a space model estimating part 14, a background flow estimating part 15 finds a background flow Vdi which is a flow of the camera image on the assumption of a background. An approaching object detecting part 16 compares the optical flow Vi with the background flow Vdi to detect movements of objects around the relevant vehicle.

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