Vehicle vision system utilizing corner detection

• US 10,025,994 B2
• Filed: 12/02/2013
• Issued: 07/17/2018
• Est. Priority Date: 12/04/2012
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Schaffner, Michael
• Primary Examiner(s): Czekaj, Dave
• Assistant Examiner(s): Joisil, Berteau
• Application Number:
  US14/093,980
• Publication Number:
  US 20140152825A1
• Time in Patent Office: 1,688 Days
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/13 Edge detection
• CPC Class Codes: G06T 7/44 using image operators, e.g. filters, edge density metrics or local histograms
• CPC Class Codes: G06V 10/147 Details of sensors, e.g. sensor lenses fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19
• CPC Class Codes: G06V 10/44 Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04N 23/61 based on recognised objects
• CPC Class Codes: H04N 23/63 by using electronic viewfinders
• CPC Class Codes: H04N 23/661 Transmitting camera control signals through networks, e.g. control via the Internet

Abstract

A vehicular vision system includes an image sensor operable to capture image data and an image processor operable to process frames of captured image data. The image processor is operable to detect edges or corners in the captured images. The image processor is operable to determine a number of edges detected in individual frames of captured image data. The vision system adjusts a sensitivity of the image processor responsive to the determined number of edges detected in at least one frame of captured image data. The image processor may detect up to a selected maximum number of edges in a frame of captured image data, and the vision system may adjust the sensitivity of the image processor so that the determined number of edges detected in a subsequent frame of captured image data is at or near the selected maximum number of edges.

Claims

1. A vehicular vision system, said vehicular vision system comprising:

an image sensor operable to capture frames of image data;

an image processor operable to process captured image data;

wherein said image processor is operable to determine edges in captured image data;

wherein said image processor is operable to determine a number of edges detected in individual frames of captured image data; and

wherein said vision system adjusts a sensitivity of said image processor responsive to the determined number of edges detected in at least one frame of captured image data.

2. The vehicular vision system of claim 1, wherein, when the determined number of edges detected in a frame of captured image data is above an upper threshold level, said vision system reduces the sensitivity of said image processor.

3. The vehicular vision system of claim 2, wherein, when the determined number of edges detected in a frame of captured image data is below a lower threshold level, said vision system increases the sensitivity of said image processor.

4. The vehicular vision system of claim 1, wherein, when the determined number of edges detected in a frame of captured image data is below a lower threshold level, said vision system increases the sensitivity of said image processor.

5. The vehicular vision system of claim 1, wherein said image processor is operable to detect up to a selected maximum number of edges in a given frame of captured image data, and wherein said vision system, responsive to the number of edges detected in a frame of captured image data, is operable to adjust the sensitivity of said image processor so that the determined number of edges detected in a subsequent frame of captured image data is at or near the selected maximum number of edges.

6. The vehicular vision system of claim 5, wherein the selected maximum number of edges is adjustable.

7. The vehicular vision system of claim 5, wherein the sensitivity of said image processor is adjusted so that, for any given frame of captured image data, said image processor is operable to detect a number of edges that is close to the capability of said image processor but not greater than the capability of said image processor.

8. The vehicular vision system of claim 7, wherein said image sensor comprises a high dynamic range sensor.

9. The vehicular vision system of claim 1, wherein said image sensor comprises a high dynamic range sensor.

10. The vehicular vision system of claim 1, wherein said image processor is operable to determine a number of corners detected in individual frames of captured image data, and wherein said vision system adjusts the sensitivity of said image processor responsive to the determined number of corners detected in at least one frame of captured image data.

11. The vehicular vision system of claim 10, wherein said image processor is operable to detect up to a selected maximum number of corners in a given frame of captured image data, and wherein said vision system, responsive to the number of corners detected in a frame of captured image data, is operable to adjust the sensitivity of said image processor so that the determined number of corners detected in a subsequent frame of captured image data is at or near the selected maximum number of corners.

12. The vehicular vision system of claim 1, wherein said image processor determines edges in the captured image data via a FAST-9 algorithm.

13. A vehicular vision system, said vehicular vision system comprising:

an image sensor operable to capture frames of image data;

an image processor operable to process captured image data;

wherein said image processor is operable to determine corners in captured image data;

wherein said image processor is operable to determine a number of corners detected in individual frames of captured image data;

wherein said vision system adjusts a sensitivity of said image processor responsive to the determined number of corners detected in at least one frame of captured image data;

wherein, when the determined number of corners detected in a frame of captured image data is above an upper threshold level, said vision system reduces the sensitivity of said image processor; and

wherein, when the determined number of corners detected in a frame of captured image data is below a lower threshold level, said vision system increases the sensitivity of said image processor.

14. The vehicular vision system of claim 13, wherein said image processor is operable to detect up to a selected maximum number of corners in a given frame of captured image data, and wherein said vision system, responsive to the number of corners detected in a frame of captured image data, is operable to adjust the sensitivity of said image processor so that the determined number of corners detected in a subsequent frame of captured image data is at or near the selected maximum number of corners.

15. The vehicular vision system of claim 14, wherein the selected maximum number of corners is adjustable.

16. The vehicular vision system of claim 14, wherein the sensitivity of said image processor is adjusted so that, for any given frame of captured image data, said image processor is operable to detect a number of corners that is close to the capability of said image processor but not greater than the capability of said image processor.

17. The vehicular vision system of claim 13, wherein said image sensor comprises a high dynamic range sensor.

18. A vehicular vision system, said vehicular vision system comprising:

an image sensor operable to capture frames of image data;

an image processor operable to process captured image data;

wherein said image processor is operable to determine edges in captured image data;

wherein said image processor is operable to determine a number of edges detected in individual frames of captured image data;

wherein said vision system adjusts a sensitivity of said image processor responsive to the determined number of edges detected in at least one frame of captured image data;

wherein the sensitivity of said image processor is adjusted so that, for any given frame of captured image data, said image processor is operable to detect a number of edges that is close to the capability of said image processor but not greater than the capability of said image processor;

wherein, when the determined number of edges detected in a frame of captured image data is above an upper threshold level, said vision system reduces the sensitivity of said image processor; and

wherein, when the determined number of edges detected in a frame of captured image data is below a lower threshold level, said vision system increases the sensitivity of said image processor.

19. The vehicular vision system of claim 18, wherein said image processor is operable to detect up to a selected maximum number of edges in a given frame of captured image data, and wherein said vision system, responsive to the number of edges detected in a frame of captured image data, is operable to adjust the sensitivity of said image processor so that the determined number of edges detected in a subsequent frame of captured image data is at or near the selected maximum number of edges.

20. The vehicular vision system of claim 18, wherein said image processor is operable to determine a number of corners detected in individual frames of captured image data, and wherein said vision system adjusts the sensitivity of said image processor responsive to the determined number of corners detected in at least one frame of captured image data.