| 摘要 |
PROBLEM TO BE SOLVED: To precisely detect the movement direction of a CCD camera by computing a direction in which an extracted feature point is moved from an optical flow. SOLUTION: Light which is reflected by a reflecting mirror 1 used to reflect light in the up-and-down direction and the right-and-left direction with reference to the optical axis of a CCD camera 2 and light which is transmitted through the central part of the reflecting mirror 1 are incident on the CCD camera 2. A front-image extraction part 3-1, an upper-image extraction part 3-2, a lower-image extraction part 3-3, a left-image extraction part 3-4 and a right-image extraction part 3-5 extract the light transmitted through a transmission part in the central part of the reflecting mirror on the basis of an image which is output from the CCD camera 2, or they extract images corresponding to light reflected by reflecting mirrors 1-1 to 1-4 in the up-and-down direction and the right-and-left direction so as to be supplied respectively to feature-point extraction parts 4-1 to 4-5. The feature-point extraction part 4-1 to 4-5 extract feature points in the respective images so as to be supplied to optical- flow computing parts 5-1 to 5-5. The optical-flow computing parts 5-1 to 5-5 compute the movement of the feature points by referring to their front or rear frame, and the movement direction of the images is estimated. A movement-direction judgment part 6 judges the movement direction of the CCD camera 2 on the basis of the movement direction of the feature points computed by the optical-flow computing parts 5-1 to 5-5. |
