| 摘要 |
PROBLEM TO BE SOLVED: To recognize the movement of the same point as an optical flow at high speed at every prescribed time by removing the optical flow caused by the scenery outside a road or traffic lane, characters or symbols drawn on the surface of the road when finding the optical flow. SOLUTION: A three-dimensional coordinate with the center of a lens 11 as an origin and a two-dimensional coordinate with FOE as an origin on an image plane 12 are considered. When the position of the traffic lane before moving is defined as P(X, Y,Z+ΔZ) and its position after moving in Z direction for ΔZ is defined as Q(X, Y, Z), the height to a video camera on the traffic lane generating the optical flow can be known from the similarity ratio of two triangles. While using this found height information, the optical flow having the height coincident with the height of the video camera, namely, caused by marks or the like on the surface of the road can be removed. In this case, ΔZ is the distance of forward moving for a time interval Δt between two images and can be found from a vehicle speed. |
