MOVING OBJECT RECOGNIZER

A moving object recognizer includes an image input to receive stereo image signals from a stereo camera consecutively and output a stereo image, a brightness image generator to consecutively store frames of at least one of images of the output stereo image and generate a brightness image frame, a disparity image generator to calculate a disparity between the images of the stereo image output to the brightness image generator and generate a disparity image frame, an object recognizer to recognize an object at least from the brightness image frame, a tracking processor to track an object recognized at a certain time from an image frame through brightness image frames obtained from image frames subsequent to the image frame recognized at the certain time, and a change detector to detect a change in the state of the tracked object from the disparity image frame synchronized with the brightness image frame.