FIELD: physics.
SUBSTANCE: device comprises: an image converting means to convert the viewpoint of an image obtained by the image capturing means to create a "bird's eye view" image; a three-dimensional object detecting means to generate difference signal form information from a difference image, in which the positions of the "bird's eye view" images are taken at different times and for detecting the three-dimensional object based on difference signal form information; a velocity calculating means to calculate a movement velocity of the three-dimensional object; a three-dimensional object estimating means to estimate, whether or not the three-dimensional object is another vehicle; an object estimating means to repeatedly calculate the magnitude of the time velocity variation of the three-dimensional object; and a control means to prevent, based on the estimation results of the object estimating means not requiring detection, estimation by the three-dimensional object estimating means that the three-dimensional object is another vehicle.
EFFECT: estimating the detected three-dimensional objects.
9 cl, 21 dwg
