Detection of moving obstacles on moving vehicle

This paper proposes a method to detect moving obstacles on image data from two cameras on a moving vehicle. Although the vehicle is moving, when it is possible to regard the position of the camera as being at a standstill, the variation of image data from the camera that is mounted on the moving vehicle is caused by motion of the moving obstacles. Therefore this paper shows a mechanism that is keeping a suspected stationary state of the position of the camera by means of two cameras and a moving structure, and detects moving obstacles.