PROBLEM TO BE SOLVED: To provide a perimeter monitoring apparatus and a perimeter monitoring method capable of improving accuracy for discriminating a moving object.SOLUTION: A plurality of specific feature points are tracked from each of images temporally continuously obtained by a camera imaging peripheries of a vehicle, and the specific feature points are grouped in 110. If it is determined in a first determination process that the vehicle is in the process of turning, and it is determined in a second determination process that a predetermined number or more of specific feature points out of the grouped specific feature points have a vector directed toward the vehicle, an object relating to the specific feature points is not detected as a notification target moving object in 118. If a result of the second determination process indicates that the grouped specific feature points have vectors in a plurality of directions, the object relating to the grouped feature points is detected as a notification target moving object in 116.

    【課題】移動物を判定する精度を向上させた周辺監視装置及び方法の提供。【解決手段】車両周辺を撮像するカメラにより時間的に連続して撮像して得られる各画像から複数の特定特徴点を追跡し、複数の特定特徴点をグルーピングする110。第1の判定処理により車両が旋回中であると判定した場合、第2の判定処理によりグルーピングした複数の特定特徴点のうちの所定数以上の特定特徴点が、車両に向かう方向に向くベクトルを有する場合には、グルーピングした複数の特定特徴点に係る物体を報知対象の移動物として検出しない118。そして、第2の判定処理の結果、グルーピングした複数の特定特徴点が、複数の方向に向くベクトルを有する場合は、グルーピングした複数の特定特徴点に係る物体を報知対象の移動物として検出する116。【選択図】図4


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    Title :

    PERIMETER MONITORING APPARATUS AND PERIMETER MONITORING METHOD


    Additional title:

    周辺監視装置及び方法


    Contributors:
    SOFUE YUKA (author) / OKUDA MASATO (author) / OBATA YUJIRO (author)

    Publication date :

    2015-09-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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