Abstract: An object tracking apparatus includes a buffer unit that is configured to store picture information, an object position detecting unit that detects positional information of an object from the picture information, an object region detecting unit that detects a region of the object in the picture information based on the positional information, a storage unit that detects a feature properties of the object located in the region and stores the positional information, the feature properties and the region of the object, a predicting unit that predicts a position of the object of the next frame in the picture information from the position information, a determining unit that determines a predictive area of the next frame where the region is to be moved based on the position of the object of the next frame, and a verifying unit that verifies the feature properties of the object within the predictive area of the next frame and outputs a most resemble region.

Abstract: A time-to-contact estimation device for estimating a time to contact of a moving body to an object in surroundings of the moving body, includes: an image sensor provided on the moving body, and continuously capturing time-varying images of the surroundings of the moving body; a brightness change calculation unit calculating brightness changes in pixels between the time-varying images captured one after another; and a time-to-contact calculation unit calculating optimized brightness gradients based on the brightness changes calculated by the brightness change calculation unit, and calculating the time to contact of the moving body to the object based on the optimized brightness gradients.

Abstract: A time-to-contact estimation device for estimating a time to contact of a moving body to an object in surroundings of the moving body, includes: an image sensor provided on the moving body, and continuously capturing time-varying images of the surroundings of the moving body; a brightness change calculation unit calculating brightness changes in pixels between the time-varying images captured one after another; and a time-to-contact calculation unit calculating optimized brightness gradients based on the brightness changes calculated by the brightness change calculation unit, and calculating the time to contact of the moving body to the object based on the optimized brightness gradients.

Abstract: An object tracking apparatus includes a buffer unit that is configured to store picture information, an object position detecting unit that detects positional information of an object from the picture information, an object region detecting unit that detects a region of the object in the picture information based on the positional information, a storage unit that detects a feature properties of the object located in the region and stores the positional information, the feature properties and the region of the object, a predicting unit that predicts a position of the object of the next frame in the picture information from the position information, a determining unit that determines a predictive area of the next frame where the region is to be moved based on the position of the object of the next frame, and a verifying unit that verifies the feature properties of the object within the predictive area of the next frame and outputs a most resemble region.