Approaching Object Detection via Segmented Optical Flow and Dynamic Programming

The patent segments the computation process into two distinct stages: first, optical flow processing is performed only in the horizontal direction to extract moving regions; second, dynamic programming is applied only to the vertical direction for size change detection. This segmentation of computational tasks across different spatial directions reduces the overall computation load while maintaining detection accuracy.

The patent transitions from two-dimensional optical flow computation (both horizontal and vertical directions) to a separated approach where horizontal motion detection and vertical size change detection are performed as independent one-dimensional processes. This dimensional separation allows each process to operate more efficiently with reduced computational requirements.

The detection process is segmented into two sequential steps performed by different detection units: horizontal moving region detection via optical flow, followed by vertical size change detection via dynamic programming. This segmentation enables real-time processing by distributing computational tasks across multiple specialized units rather than requiring one microcomputer to handle all computations simultaneously.

The patent applies partial action by performing optical flow processing only in the horizontal direction initially, and dynamic programming only in the vertical direction, rather than performing full two-dimensional optical flow. This partial computation approach achieves sufficient detection performance with significantly reduced computation load suitable for car-mounted systems.

Instead of detecting vertical edges directly (which has low accuracy and causes erroneous detection), the patent inverts the approach: it first detects horizontal motion via optical flow to identify moving regions, then uses dynamic programming to detect vertical size changes. This inverted detection sequence avoids the problematic vertical edge detection step while achieving reliable moving object identification.

The patent introduces dynamic programming as an intermediary process between horizontal motion detection and final approaching object determination. This intermediary step processes the horizontally-detected moving regions through vertical size change analysis, providing a more reliable pathway to identify approaching objects without relying on inaccurate vertical edge detection.