Mobile entity detection apparatus, mobile entity detection method, and computer-readable recording medium

Abstract

A mobile entity detection apparatusincludes: a feature point extraction unitconfigured to extract, from image data output by an imaging device of a vehicle, a feature point moving in an image; an optical flow specification unitconfigured to compare the latest image data with image data that was output in the past, and specify an optical flow for each feature point; a clustering unitconfigured to perform clustering on the optical flow based on the optical flow and the position of the optical flow in the image, and separate the optical flow into a cluster; a filtering unitconfigured to remove a cluster that corresponds to an object forming a background from among the clusters based on the traveling direction and speed of the vehicle; and a mobile entity specification unitconfigured to specify a mobile entity in the image using a result of clustering after cluster removal.