Object detection apparatus, object detection method and object detection program

Abstract

An object detection apparatus and method for accurately detecting a movable object in a region around a vehicle from a time series of images obtained through a camera mounted on the vehicle by eliminating the influence of the movement of the camera through simple processing, and a program for making a computer execute processing in the apparatus. The object detection apparatus has a feature point extraction unit which extracts a feature point contained in a feature region of each image in the time series of images obtained through a camera mounted on the vehicle, a correspondence degree computation unit which computes the degree of correspondence for each pair of the feature points, wherein one of the feature points in the each pair is each of one or more of the feature points extracted by the feature point extraction unit from one of two images taken by the camera at different times, and another of the feature points in the each pair is each of a plurality of the feature points extracted by the feature point extraction unit from another of the two images, and a detection unit which detects the movable object on the basis of the degree of correspondence computed by the correspondence degree computation unit.

Dependencies are inferred from the claim text.