Patent ID: 10740908

Abstract:
An object of the invention is to provide a moving object capable of being calculated a movement amount with a low processing load and high accuracy even when a three-dimensional object which is stationary or moves appears in a camera image. The invention is directed to a moving object which includes an imaging device which captures an image of a road surface and an image processing unit which calculates a movement amount of the moving object based on an image captured by the imaging device, wherein the image processing unit extracts a plurality of first feature points from a first image captured at a first timing, extracts a plurality of second feature points from a second image captured at a second timing after the first timing, performs tracking on each of the plurality of first feature points to each of the plurality of second feature points, calculates a movement amount and a speed of each of the plurality of second feature points, and calculates a movement amount of the moving object based on a feature point having a speed within a predetermined range among the plurality of second feature points.