| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an obstacle detecting device capable of precisely detecting an approaching obstacle without any erroneous detection. SOLUTION: The concentration change data of read pictures are prepared so that feature extraction can be realized, and an obstacle can be estimated (S40, S50). Correlation processing is operated between the read pictures and an already existing template is operated so that an optical flow can be detected, and the obstacle can be estimated from the flow vector and the already existing template (S30). The already existing template is the template of the obstacle prepared in processing until the precious time (S110, S120, S150). Then, matching processing for collating the estimated obstacle obtained by the correlation processing and the estimated obstacle obtained by the feature extraction is operated (S90), and when they are matched, the estimated obstacle is specified as the obstacle (S100).</p> |
