Barrier and guardrail detection using a single camera

• US 10,078,788 B2
• Filed: 02/01/2016
• Issued: 09/18/2018
• Est. Priority Date: 09/21/2010
• Status: Active Grant

• Current Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Original Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Inventors: Stein, Gideon P.
• Primary Examiner(s): Rahman, Mohammad J
• Application Number:
  US15/012,455
• Publication Number:
  US 20160148060A1
• Time in Patent Office: 960 Days
• Field of Search: None
• CPC Class Codes: G06T 2207/10004 Still image; Photographic image
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 3/18 Image warping, e.g. rearranging pixels individually
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

Driver assistance systems for detecting a structural barrier extending along a road. The driver assistance system may be mountable in a host vehicle. The camera may capture multiple image frames in the forward field of view of the camera. A processor may process motion of images of the barrier in the image frames. The camera may be a single camera. The motion of the images may be responsive to forward motion of the host vehicle and/or the motion of the images may be responsive to lateral motion of the host vehicle.

Claims

1. A method for detection of a structural barrier extending along a road, the method performed by a driver assistance system mountable in a host vehicle, wherein the driver assistance system includes a camera operatively connectible to a processor, the method comprising:

capturing a plurality of image frames in the forward field of view of the camera; and

in the image frames, processing motion of images of the structural barrier thereby detecting the structural barrier, wherein the processing includes;

hypothesizing a plurality of linear image structures as projections of the structural barrier onto a road plane; and

selecting, from the plurality of linear image structures, a linear image structure as a correct hypothesis based on the motion of images.

2. The method of claim 1, wherein the plurality of linear image structures include a plurality of image lines on an image frame of the plurality of image frames, and wherein the plurality of image lines intersect at a vanishing point of the image frame.

3. The method of claim 1, wherein the structural barrier includes a plurality of vertical posts.

4. The method of claim 3, wherein the processing further comprises obtaining, based on the plurality of linear image structures, a plurality of vertical image coordinates corresponding to the plurality of linear image structures.

5. The method of claim 4, wherein the processing further comprises obtaining, based on the plurality of vertical image coordinates, a plurality of forward distances.

6. The method of claim 5, wherein the processing further comprises obtaining, based on the plurality of forward distances, a plurality of lateral distances.

7. The method of claim 6, wherein the processing further comprises:

obtaining a plurality of new horizontal image coordinates corresponding to the plurality of linear image structures by calculating, for each linear image structure, a respective new horizontal image coordinate based on motion of the host vehicle and a first image frame of the plurality of image frames.

8. The method of claim 7, wherein the processing further comprises:

based on a second image frame, selecting a particular new horizontal image coordinate from the plurality of new horizontal image coordinates.

9. The method of claim 8, wherein the particular new horizontal image coordinate aligns with a horizontal coordinate in the second image frame.

10. An electronic device mountable in a host vehicle for detection of a structural barrier extending along a road, the electronic device comprises:

one or more processors;

memory;

a camera operatively connectible to the one or more processors;

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for;

capturing a plurality of image frames in the forward field of view of the camera; and

in the image frames, processing motion of images of the structural barrier thereby detecting the structural barrier, wherein the processing includes;

hypothesizing a plurality of linear image structures as projections of the structural barrier onto a road plane; and

selecting, from the plurality of linear image structures, a linear image structure as a correct hypothesis based on the motion of images.

11. A non-transitory computer-readable storage medium storing one or more programs for detection of a structural barrier extending along a road, the one or more programs comprising instructions, which when executed by one or more processors of an electronic device with a camera, cause the device to:

capturing a plurality of image frames in the forward field of view of the camera; and

in the image frames, processing motion of images of the structural barrier thereby detecting the structural barrier, wherein the processing includes;

hypothesizing a plurality of linear image structures as projections of the structural barrier onto a road plane; and

selecting, from the plurality of linear image structures, a linear image structure as a correct hypothesis based on the motion of images.