抄録
These days an area of research about the driving support to prevent the traffic accidents becomes active. In the research, we have detected the obstacles in front of ego-vehicle with stereovision system. In addition we have tracked the obstacles that exists in the image in time series to estimate the detected obstacle's position and velocity robustly. But in conventional method, there was a problem that tracking obstacles was unstable in some case. So in this paper, we locate the cause of the problem, and we propose a method to track each obstacle more robustly by adding a parameter to the information of the obstacles to solve the problem.
