| 摘要 |
PROBLEM TO BE SOLVED: To reduce the number of points, at which optical flow is found, inside an image so as to speed up processing by finding a luminance difference between two images obtained at a predetermined time interval and finding optical flow at a point in which the luminance difference exceeds a fixed threshold value. SOLUTION: Generally, an image projecting the front view during a drive on a vehicle contains a great number of places, in which luminance is not varied along the elapse of time, such as a sky and a road surface. In these places, no optical flow can be found theoretically. Therefore, velocity vector finding at all the points in the image is not carried out, but a luminance difference between the images at a time (t) and at a time (t+Δt) is found, and processing is carried out at only the points in which the luminance difference exceeds a fixed threshold value. In this way, processing is carried out in the images obtained at a time (t) and a time (t+Δt) while aiming at only the place in which luminance difference is generated, so that unnecessary process can be omitted and speedup can be accomplished.
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