Patent ID: 7253389

Claim:
A mobile body surrounding surveillance apparatus comprising: an image capturing section for capturing an image in a surrounding of an own mobile body; a particular region setting section for setting a particular region for image data captured by the image capturing section, the particular region being parallel to the horizontal direction of a frame image and rectangular having a long edge in the horizontal direction; an own mobile body movement direction detection section for 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 section for taking the image data of the particular region for each of one or a plurality of frame images captured by the image capturing section in time series and adjusting a detection sensitivity based on the movement direction information so as to extract a movement vector information on another mobile body; and a change detection section for 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.