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Intruding-object detection apparatus

  • US 20040041905A1
  • Filed: 08/27/2003
  • Published: 03/04/2004
  • Est. Priority Date: 08/30/2002
  • Status: Active Grant
First Claim
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1. An intruding-object detection apparatus for detecting an object intruding into a field of view as an intruding object using a pair of images taken by a stereo camera, the pair of images being a reference image and a comparison image, the apparatus comprising:

  • means for obtaining a matching point for the same subject between the reference image and the comparison image and, for storing the obtained matching point; and

    means for evaluating the difference between image information near an arbitrary position in the reference image and image information near a position, deviated from the arbitrary position by the stored matching point, in the comparison image and for outputting an area, where the difference is large, as an area indicating an intruding object.

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