Moving object detection apparatus, moving object detection method and program

A moving object detection method comprising:

• receiving video taken by an image capturing apparatus provided in a mobile body;
• calculating first scores based on a motion of one or more pixels of an image included in the video;
• calculating second scores based on a background model and the image, wherein the background model is updated based on the image and the motions of the pixels;
• and
• detecting an area of a moving object from the image based on the first scores and the second scores when at least any one of a first condition, a second condition and a third condition is satisfied, wherein
• the first condition is that, in the area, the first scores satisfy a first score condition, the second scores satisfy a second score condition, or the first scores satisfy a first score condition and the second scores satisfy a second score condition,
• the second condition is that, in the area, the first scores satisfy a first score condition and the second scores satisfy a second score condition,
• the third condition is that, in the area, summations of the first scores and the second scores satisfy a third score condition, and
• each of the first scores is based on an angle between a direction of a motion of a pixel in a previous image included in the video and a direction of a motion of a corresponding pixel in the image.

A non-transitory computer readable storage medium storing a program causing a computer to execute:

• processing of receiving video taken by an image capturing apparatus provided in a mobile body;
• processing calculating first scores based on a motion of one or more pixels of an image included in the video;
• processing calculating second scores based on a background model and the image, wherein the background model is updated based on the image and the motions of the pixels;
• and
• processing detecting an area of a moving object from the image based on the first scores and the second scores when at least any one of a first condition, a second condition and a third condition is satisfied, wherein
• the first condition is that, in the area, the first scores satisfy a first score condition, the second scores satisfy a second score condition, or the first scores satisfy a first score condition and the second scores satisfy a second score condition,
• the second condition is that, in the area, the first scores satisfy a first score condition and the second scores satisfy a second score condition,
• the third condition is that, in the area, summations of the first scores and the second scores satisfy a third score condition, and
• each of the first scores is based on an angle between a direction of a motion of a pixel in a previous image included in the video and a direction of a motion of a corresponding pixel in the image.