Patent Document ID: 20160196654
Application ID: 14967761
Patent Status: 0

Claim One:
1. A map creation apparatus, comprising: an image receiver configured to receive images in time series while moving; a first calculator configured to extract an image area indicating an object from the images input from the image receiver and calculate a coordinate of the object in a world coordinate system; a second calculator configured to track the object in the extracted image area with the images input in sequence and calculate an optical flow of the object; a moving object eliminator configured to calculate a difference between a coordinate of a first vanishing point generated by the movement of the image receiver and a coordinate of a second vanishing point generated by a movement of the object based on the optical flow calculated by the second calculator, and eliminate the image area of the object from the images when determining the object as a moving object based on the calculated difference; and a storage controller configured to cause a storage unit to store map information including the coordinate of the object, not eliminated by the moving object eliminator, in the world coordinate system.