Patent ID: 6993159

Claim:
A system for supporting driving of a moving body comprising: a plurality of imaging means installed on said moving body for taking camera images of the rear of said moving body; and detection means for detecting movement of an object present in the rear of said moving body based on said camera images of said plurality of imaging means, wherein said plurality of imaging means have, in camera images thereof, an overlap area that includes an area in the vicinity of a vanishing point and in which imaging areas of first imaging means and second imaging means overlap with each other, said detection means obtains a stereo parallax between said first imaging means and said second imaging means in said overlap area, and obtains a distance to said object on the basis of said obtained stereo parallax, and wherein said detection means detects flows corresponding to movement with time of an image in the imaging area of said first imaging means excluding said overlap area, and detects movement of said object present in the rear of said moving body on the basis of said detected flows.