本发明揭露一种移动物体的侦测方法,包含下列步骤:利用左相机取得第一左影像及第二左影像,右相机取得第一右影像及第二右影像;分割第一右影像为数个色彩区块;于第一左影像选取N个控制点,并搜索第一右影像之M个第一对应点;根据控制点及第一对应点计算第一深度信息,并计算第一对应点出现在第二右影像之一可能范围以搜索P个第二对应点;利用每一色彩区块之第一对应点及其第二对应点,计算一二维平面转换参数,并将该色彩区块内之像素转换至新位置以取得一转换影像;辨认第二右影像以及转换影像之一差异区域作为该移动物体之所在区域。

The present invention discloses a detecting method for a moving object, comprising the following steps of: using stereo-camera to take images. Left camera takes a first left-image, a second left-image and so on. Right camera takes a first right-image, a second right-image and so on. Segmenting the first right-image into a plurality of color blocks. Choosing N control points on the first left-image and searching M corresponding-points on the first right-image. Calculating the depth information from pairs of those matching points and calculating the possible region of appearance, named searching window, for those matching-points appeared on the second right-image. Searching P second corresponding-points in the calculated searching window which on the second right-image. Using the first corresponding-point sand the second corresponding-points contained in each of the color blocks to calculate a planar transformation parameters for the color block, so as to transform all pixels of the color block to a new position to get a transformation image. Differentiating a difference region between the second right-image and the transformed image, the difference regions are the positions of moving objects.