WARNING DEVICE, WARNING METHOD, AND WARNING PROGRAM

PROBLEM TO BE SOLVED: To properly issue a warning while maintaining the accuracy in detecting travel of an object even when it is difficult to determine an external environment of a moving body.SOLUTION: A warning device according to the present invention comprises: image acquisition means that acquires an image group constituted of a plurality of images that are continuously photographed; detection means that performs detection of an object on the respective images in the image group; determination means that compares results of the detection of the object in the image group in chronological order to determine the level of travel of the object; and warning means that issues a warning according to the determined level of travel. The image acquisition means acquires a plurality of image groups based on a plurality of respective filter characteristics.SELECTED DRAWING: Figure 1 【課題】移動体の外部環境の判別が困難な状況であっても対象物の移動の検出精度を維持して警告を適切に行なうこと。【解決手段】本発明にかかる警告装置は、連続して撮影される複数の画像から構成される画像群を取得する画像取得手段と、画像群内の画像のそれぞれに対して、対象物の検出を行う検出手段と、画像群における対象物の検出結果を時系列に沿って比較して、対象物の移動の度合いを判定する判定手段と、判定された移動の度合いに応じて警告を行う警告手段とを備え、画像取得手段は、複数のフィルタ特性それぞれに基づく複数の画像群を取得する。【選択図】図１