Patent ID: 7295684

Claim:
An object detection apparatus for detecting objects based on visual images captured by a self-moving unit, the object detection apparatus comprising: a sequential images output section for making a train of a first input image and a second input image sequential to the first input image and outputting said train; a local area image processor for calculating local flows based on said first input image and said second input image; an inertia information acquiring section for measuring self-motion of the unit to calculate inertia information thereof; a global area image processor for using said inertia information to estimate global flow, which is a motion field of the entire view associated to the self-motion, using said global flow and said first input image to create a predictive image of said second input image and calculating differential image data, said differential image data being a difference between said predictive image and said second input image; a figure-ground segregation section for using said differential image data to refine said local flows, comparing the refined local flows with a predetermined threshold value to extract a figure candidate area, said figure candidate area being the area having a high probability of an object existing in the input image; and an object presence/absence determination section for determining presence/absence of objects in said figure candidate area.