Mobile body surrounding surveillance apparatus, mobile body surrounding surveillance method, control program and computer-readable recording medium

A mobile body surrounding surveillance method comprising:

• an image capturing step of capturing an image data in a surrounding of an own mobile body as a frame image, the image data being captured by an image capturing section in time series;
• a setting step of setting a particular region which is parallel to the horizontal direction of the frame image and rectangular having a long edge in the horizontal direction for each of one or a plurality of captured frame images;
• an own mobile body movement direction detection step of detecting a movement direction of the own mobile body and outputting a movement direction information indicating the detected movement direction;
• a movement vector information extraction step of taking the image data of the particular region for each of one or the plurality of the captured frame images and extracting a movement vector information on another mobile body based on the image data of the particular region and the movement direction information;
• and
• a change detection step of detecting a moving state of the other mobile body which is present in the surrounding of the own mobile body based on the movement vector information.