Patent Document ID: 8300887
Application ID: 11801576
Patent Status: 1

Claim One:
1. An object detection apparatus which detects a movable object in a region around a vehicle from a time series of images including at least a first and second image obtained through a camera mounted on the vehicle, the apparatus comprising: a feature point extraction unit which extracts a first set of feature point contained in a feature region of the first image and a second set of feature point contained in a feature region of the second image; a correspondence degree computation unit which: creates a combination set of pairs of feature points by pairing each feature point from the first set with each feature point of the second set, computes a degree of correspondence for each pair of the feature points in the combination set, and reduces the combination set to a corresponding pairs set that includes the pairs from the combination set having the highest computed degree of correspondence for each feature point of the first set; and a detection unit which detects the movable object on the basis of the degree of correspondence computed by the correspondence degree computation unit.