Vehicular vision system
First Claim
1. A method of performing vehicular vision processing comprising:
- producing a depth image of a scene proximate a vehicle;
comparing the depth image to a plurality of templates of objects;
identifying a match between the depth image and at least one template; and
adjusting a parameter of the vehicle in response to the match of said template.
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Accused Products
Abstract
A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.
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Citations
25 Claims
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1. A method of performing vehicular vision processing comprising:
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producing a depth image of a scene proximate a vehicle;
comparing the depth image to a plurality of templates of objects;
identifying a match between the depth image and at least one template; and
adjusting a parameter of the vehicle in response to the match of said template. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. Apparatus for performing vehicular vision processing comprising:
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a stereo image preprocessor for producing a multi-resolutional disparity image;
a depth map generator for processing the multi-reolutional disparity image to form a depth map; and
a target processor for comparing the depth map to a plurality of templates to identify a match between at least one template within the plurality of templates and the depth map. - View Dependent Claims (22, 23, 24)
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25. A method of performing vehicular vision processing, comprising:
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producing a disparity image of a scene proximate a vehicle;
comparing the disparity image to a plurality of templates of objects;
identifying a match between the disparity image and at least one template; and
adjusting a parameter of the vehicle in response to the match of said template.
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Specification