1. An apparatus for detecting an object in at least one image, comprising: an image pickup device mounted on a vehicle, the image pickup device capturing an image; and a controller coupled to the image pickup device; wherein the controller is operable to extract pixels of the image captured by the image pickup device, to calculate a side direction velocity component based upon the extracted pixels, to detect a road boundary based upon the calculated side direction velocity component, and to detect a moving direction of the object based upon a relationship between the road boundary and the object.