Apparatus and method for recognizing position of obstacle in vehicle

• US 10,186,039 B2
• Filed: 06/18/2015
• Issued: 01/22/2019
• Est. Priority Date: 11/03/2014
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Industry-University Cooperation Foundation Hanyang University, Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group), Industry-University Cooperation Foundation Hanyang University, Kia Motors Corporation (Kia Corp.)
• Inventors: Choi, Jae Seob, Ryu, Seong Sook, Yoon, Dae Joong, Choi, Jin Wook, Chang, Eu Gene, Jung, Ho Gi, Suhr, Jae Kyu
• Primary Examiner(s): Patel, Jayanti K
• Assistant Examiner(s): Habib, Irfan
• Application Number:
  US14/743,957
• Publication Number:
  US 20160125588A1
• Time in Patent Office: 1,314 Days
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/13 Edge detection
• CPC Class Codes: H04N 23/80 Camera processing pipelines; Components thereof

Abstract

An apparatus for recognizing a position of an obstacle in a vehicle obtains image data and ultrasonic sensor data through a camera and an ultrasonic sensor, detects linear edges perpendicular to a ground surface in the image data, detects a discontinuous position at which the ultrasonic sensor data are not continuous, detects intersection points of the linear edges detected in continuous images from the image data when the discontinuous position coincides with a camera position, and estimates the intersection points to be the position of the obstacle.

Claims

1. A method for recognizing a position of an obstacle in a vehicle, comprising:

obtaining image data and ultrasonic sensor data through a camera and an ultrasonic sensor, respectively;

detecting edges of the obstacle perpendicular to a ground surface in the image data;

detecting a discontinuous position at which the ultrasonic sensor data are not continuous;

detecting intersection points of a straight line connecting edges of the obstacle detected in continuous images from the image data to a center position of the camera when the discontinuous position coincides with a camera position; and

estimating the intersection points to be the position of the obstacle.

2. The method for recognizing a position of an obstacle in a vehicle according to claim 1, wherein the detecting of the edges of the obstacle includes:

performing a distance transform based on an edge image of the image data;

creating a polar histogram in the image on which the distance transform is performed; and

extracting the edges of the obstacle in which most edge pixels are distributed through the polar histogram.

3. The method for recognizing a position of an obstacle in a vehicle according to claim 1, wherein in the detecting of the edges of the obstacle, the edges are detected by estimating edge start and end positions of the obstacle in the image data based on camera information and obstacle information.

4. The method for recognizing a position of an obstacle in a vehicle according to claim 1, the detecting of the discontinuous position further comprising confirming whether the discontinuous position coinciding with the camera position is an obstacle sensing start position.

5. The method for recognizing a position of an obstacle in a vehicle according to claim 4, wherein in the detecting of the intersection points of the straight line connecting the edges to the center position of the camera, intersection points of the straight lines extended from edges detected in the image data and a following image toward the camera are detected upon confirmation that the camera position is the obstacle sensing start position.

6. The method for recognizing a position of an obstacle in a vehicle according to claim 5, wherein in the detecting of the intersection points of the straight line connecting the edges to the center position of the camera, one point at which a vertical distance to the straight lines is minimum is detected.

7. The method for recognizing a position of an obstacle in a vehicle according to claim 1, wherein in the detecting of the discontinuous position, it is confirmed whether the discontinuous position coinciding with the camera position is an obstacle sensing end position.

8. The method for recognizing a position of an obstacle in a vehicle according to claim 7, wherein in the detecting of the intersection points of the straight line connecting the edges to the center position of the camera, intersection points of the straight lines extended from edges detected in the image data and previous image data toward the camera are detected upon confirmation that the camera position is the obstacle sensing end position.

9. The method for recognizing a position of an obstacle in a vehicle according to claim 8, wherein in the detecting of the intersection points of the straight line connecting the edges of the obstacle to the center position of the camera, one point at which a vertical distance to the straight lines is minimum is detected.

10. An apparatus for recognizing a position of an obstacle in a vehicle, comprising:

a camera configured to photograph image data around the vehicle;

an ultrasonic sensor configured to sense an obstacle around the vehicle; and

a controller configured to detect edges of the obstacle perpendicular to a ground surface in the image data to register the edges of the obstacle in a storage based on movement information of the vehicle, detect a discontinuous position of ultrasonic sensor data output from the ultrasonic sensor, and detect intersection points of a straight line connecting the edges detected in continuous image data obtained within a predetermined distance based on a camera position to a center position of the camera when the discontinuous position coincides with the camera position to recognize the intersection points of the straight line connecting the edges to the center position of the camera to be positions of edges of the obstacle.

11. The apparatus for recognizing a position of an obstacle in a vehicle according to claim 10, wherein the controller transforms the image data into an edge image, performs a distance transform on the edge image, and then creates a polar histogram to extract the edges of the line of the obstacle in which most edge pixels are distributed.

12. The apparatus for recognizing a position of an obstacle in a vehicle according to claim 10, wherein the controller estimates edge start and end positions of the obstacle in the image data based on camera information and obstacle information to detect the edges.

13. The apparatus for recognizing a position of an obstacle in a vehicle according to claim 10, wherein the controller detects intersection points of the straight line connecting the edges within an interest region set based on the ultrasonic sensor data to the center position of the camera.

14. The apparatus for recognizing a position of an obstacle in a vehicle according to claim 10, wherein the controller detects intersection points of straight lines extended from the edges detected in the image data and a following image data toward the camera when the camera position coincides with an obstacle sensing start position.

15. The apparatus for recognizing a position of an obstacle in a vehicle according to claim 10, wherein the controller detects intersection points of straight lines extended from the edges detected in the image data and a following image data toward the camera when the camera position coincides with an obstacle sensing start position.

16. The apparatus for recognizing a position of an obstacle in a vehicle according to claim 15, wherein the controller calculates one point on a straight line at which a vertical distance to the straight lines is minimum.

17. The apparatus for recognizing a position of an obstacle in a vehicle according to claim 10, wherein the controller detects intersection points of straight lines extended from the edges detected in the image data and previous image data toward the camera when the camera position coincides with an obstacle sensing end position.

18. The apparatus for recognizing a position of an obstacle in a vehicle according to claim 17, wherein the controller calculates one point on a straight line at which a vertical distance to the straight lines is minimum.