| 摘要 |
PROBLEM TO BE SOLVED: To provide a monitor outside a vehicle capable of obtaining proper information outside the vehicle with a simple configuration. SOLUTION: Imaging devices 5 and 6 are configured by providing imaging lens systems 5a and 6a with a fish-eye lens. Image processing units 7 and 8 detect a traveling object such as a vehicle traveling side by side and an oncoming vehicle on the basis of optical flow between two images imaged with the imaging devices 5 and 6 at different timings and set representative points A of the detected traveling object on the road surface. An arithmetic unit 9 assumes that each of the representative points A exists on a plane being the same as the ground plane of the self-vehicle and operates the relative position of the traveling object with respect to the self-vehicle on the basis of deviation angle α and β of the each representative point A from the direction of an optical axis O. |
