| 摘要 |
PURPOSE: To surely detect the approaching state of an obstruction, to simplify hardware constitution and processing algorithm, to lower a cost and to perform a high-speed processing. CONSTITUTION: This obstruction approaching state detector is provided with a two-dimensional CCD camera 1 for continuously picking up images inside a prescribed visual field and an image processor 2 for judging whether or not the obstruction is in the approaching state by processing video signals for expressing the images of the camera 1 at the two sequential earlier and later points of time. The image processor 2 sets plural horizontal scanning lines including a processing object reference line as a processing object range for the images of the camera 1, uses the video signals on the processing object reference line at the earlier point of time and the video signals on the horizontal scanning lines within the processing object range at the later point of time corresponding to them, obtains motion vectors in the horizontal direction between the two sequential earlier and later points of time for plural points on the processing object reference line at the earlier point of time, detects the obstruction based on the motion vectors and judges whether or not the obstruction is in the approaching state. |
