Barrier and guardrail detection using a single camera
First Claim
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
determining a first horizontal image coordinate, in a first frame of the plurality of image frames, of a feature of the structural barrier;
determining a second horizontal image coordinate, in a second frame of the plurality of image frames, of the feature of the structural barrier, wherein determining the second horizontal image coordinate includes identifying a change from the first horizontal image coordinate based on movement of the host vehicle, wherein the movement of the host vehicle is used to determine that the feature of the structural barrier is upright; and
identifying a linear image structure, hypothesized based on the first frame, as a correct projection of the structural barrier onto a road plane based on the linear image structure correctly aligning with the feature in the second frame.
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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.
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Citations
18 Claims
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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:
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capturing a plurality of image frames in the forward field of view of the camera; and determining a first horizontal image coordinate, in a first frame of the plurality of image frames, of a feature of the structural barrier; determining a second horizontal image coordinate, in a second frame of the plurality of image frames, of the feature of the structural barrier, wherein determining the second horizontal image coordinate includes identifying a change from the first horizontal image coordinate based on movement of the host vehicle, wherein the movement of the host vehicle is used to determine that the feature of the structural barrier is upright; and identifying a linear image structure, hypothesized based on the first frame, as a correct projection of the structural barrier onto a road plane based on the linear image structure correctly aligning with the feature in the second frame. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An electronic device mountable in a host vehicle for detection of a structural barrier extending along a road, the electronic device comprises:
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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; determining a first horizontal image coordinate, in a first frame of the plurality of image frames, of a feature of the structural barrier; determining a second horizontal image coordinate, in a second frame of the plurality of image frames, of the feature of the structural barrier, wherein determining the second horizontal image coordinate includes identifying a change from the first horizontal image coordinate based on movement of the host vehicle, wherein the movement of the host vehicle is used to determine that the feature of the structural barrier is upright; and identifying a linear image structure, hypothesized based on the first frame, as a correct projection of the structural barrier onto a road plane based on the linear image structure correctly aligning with the feature in the second frame. - View Dependent Claims (8, 9, 10, 11, 12)
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13. 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:
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capturing a plurality of image frames in the forward field of view of the camera; determining a first horizontal image coordinate, in a first frame of the plurality of image frames, of a feature of the structural barrier; determining a second horizontal image coordinate, in a second frame of the plurality of image frames, of the feature of the structural barrier, wherein determining the second horizontal image coordinate includes identifying a change from the first horizontal image coordinate based on movement of the host vehicle, wherein the movement of the host vehicle is used to determine that the feature of the structural barrier is upright; and identifying a linear image structure, hypothesized based on the first frame, as a correct projection of the structural barrier onto a road plane based on the linear image structure correctly aligning with the feature in the second frame. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification