Real-time obstacle detection with a calibrated camera and known ego-motion
First Claim
Patent Images
1. A method for real-time obstacle detection from a vehicle moving relative to a road, comprising:
- calibrating an image capturing device, such that any image point can be mapped to a real-world point;
receiving one or more images from the image capturing device;
receiving information about the ego-motion of the image capturing device;
selecting one or more real-world points according to a tractability criterion;
applying a motion estimation method on the one or more real-world points, the one or more images, and the known plane to determine an image motion flow of the one or more real-world points;
determining a true motion flow of the one or more real-world points based on the one or more real world points, the one or more images, and the ego-motion; and
determining that the one or more real-world points is one or more obstacle points by comparing the image motion flow and the true motion flow.
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Abstract
A method and system of real-time obstacle detection from a moving vehicle is provided. The method and system use a calibrated image capturing device. The method and system use a motion estimation technique to pick points with reliable image motion flows, and performs very fast sparse matching between the image motion flows and true motion flows calculated from the ego-motion of the image capturing device. Any mismatch between the image motion flows and the true motion flows are verified over time to achieve robust obstacle detection.
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Citations
20 Claims
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1. A method for real-time obstacle detection from a vehicle moving relative to a road, comprising:
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calibrating an image capturing device, such that any image point can be mapped to a real-world point;
receiving one or more images from the image capturing device;
receiving information about the ego-motion of the image capturing device;
selecting one or more real-world points according to a tractability criterion;
applying a motion estimation method on the one or more real-world points, the one or more images, and the known plane to determine an image motion flow of the one or more real-world points;
determining a true motion flow of the one or more real-world points based on the one or more real world points, the one or more images, and the ego-motion; and
determining that the one or more real-world points is one or more obstacle points by comparing the image motion flow and the true motion flow. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A system for real-time obstacle detection from a vehicle moving relative to a road, comprising:
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an image capturing device;
means for calibrating an image capturing device, such that any image point can be mapped to a real-world point;
means for receiving one or more images from the image capturing device;
means for receiving information about the ego-motion of the image capturing device;
means for selecting one or more real-world points according to a tractability criterion;
means for applying a motion estimation method on the one or more real-world points, the one or more images, and the road to determine an image motion flow of the one or more real-world points;
means for determining a true motion flow of the one or more real-world points based on the one or more real world points, the one or more images, and the ego-motion; and
means for determining that the one or more real-world points is one or more obstacle points by comparing the image motion flow and the true motion flow. - View Dependent Claims (15, 16, 17, 18, 19)
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20. A machine-readable medium having instructions stored thereon for execution by a processor to perform a method for real-time obstacle detection from a vehicle moving relative to a road, comprising:
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calibrating an image capturing device, such that any image point can be mapped to a real-world point;
receiving one or more images from the image capturing device;
receiving information about the ego-motion of the image capturing device;
selecting one or more real-world points according to a tractability criterion;
applying a motion estimation method on the one or more real-world points, the one or more images, and the road to determine an image motion flow of the one or more real-world points;
determining a true motion flow of the one or more real-world points based on the one or more real world points, the one or more images, and the ego-motion; and
determining that the one or more real-world points is one or more obstacle points by comparing the image motion flow and the true motion flow.
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Specification