To provide a vehicle periphery monitoring device capable of immediately and easily calculating the optical flow of the whole image and monitoring the state of the periphery of a vehicle on the basis of this.
This monitoring device comprises a continuous image acquiring part 2 for taking the peripheral image of the vehicle; a cruising lane recognition part 3 for recognizing the cruising lane of the vehicle; and an optical flow calculation part 5 for calculating the optical flow of a moving object present in the periphery of the vehicle on the basis of the cruising lane data obtained by the cruising lane recognition part 3 and the speed data of the vehicle, and extracting the moving object on the basis of the optical flow. The optical flow calculation part 5 calculates the optical flow on the basis of the luminance value of a desired point in the image of this frame photographing and the luminance value in a point corresponding to the desired point in the image of the next frame photographing and by use of an energy functional formed on condition that the speed change of the moving object is smooth.
ISHIKAWA NAOTO
NAKAJIMA MASATO
KATO SADAATSU
