| 摘要 |
PROBLEM TO BE SOLVED: To monitor a vehicle approaching its own vehicle. SOLUTION: The periphery of its own vehicle is image-picked-up by an omnidirectional visual sensor 1, and an omnidirectional picture is formed by a picture inputting part 2, and the density differential picture of the omnidirectional picture is derived, and an annular region under consideration is set for the density differential picture, and a density projection value to the radial direction in the region under consideration is calculated so that an annular edge histogram can be formed by a radial direction density projecting part 3. Then, the edge histogram is developed from a reference position, and an observing point which is a prescribed density threshold or more in the developed edge histogram is calculated so that the moving vectors of the observing point can be calculated from the change of the density in time by a moving vector calculating part 4. Whether or not any moving vector moving from the rear part to front part of its own vehicle is present among the calculated moving vectors of the observing point is judged by a judging part 5, and when any pertinent observing point is present, warning is issued by a warning part 6. |
