MOBILE OBJECT RECOGNITION DEVICE, NOTIFICATION APPARATUS USING THE DEVICE, MOBILE OBJECT RECOGNITION PROGRAM FOR USE IN THE MOBILE OBJECT RECOGNITION DEVICE, AND MOBILE OBJECT WITH THE MOBILE OBJECT RECOGNITION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a mobile object recognition device capable of improving recognition accuracy of an object and detection accuracy of a movement change of the object.SOLUTION: A mobile object recognition device includes: a stereo image input section 20 to which stereo image signals are sequentially input; a brightness image buildup section 21 for building up a brightness image by sequentially storing/holding at least one image of the stereo image for each frame; a parallax image buildup section 22 for building up a parallax image by calculating a parallax for each pixel by using the stereo image output synchronously with an output to the brightness image buildup section 21; an object recognition section 23 for recognizing an object by using the brightness image and parallax image; an object tracking processing section 24 for tracking an object recognized in a previously processed image frame by using a brightness image obtained by plural image frames of presently processed and thereafter; and an object state change detection section 25 for measuring a state change of the tracked object by using a parallax image synchronized with the brightness image.