Stereo-vision based imminent collision detection
First Claim
1. A method of detecting an imminent collision comprising the steps of:
- producing from imagery a depth map of a scene proximate a platform;
detecting a potential threat in the depth map;
estimating the size of the detected potential threat;
estimating the position of the detected potential threat;
estimating the velocity of the detected potential threat;
performing a trajectory analysis of the detected potential threat using the estimated position and the estimated velocity; and
performing a collision prediction based on the trajectory analysis.
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Accused Products
Abstract
A stereo vision based collision avoidance systems having stereo cameras that produce imagery that is processed to produce a depth map of a scene. A potential threat is detected in the depth map. The size, position, and velocity of the detected potential threat are then estimated, and a trajectory analysis of the detected potential threat is determined using the estimated position and the estimated velocity. A collision prediction based on the trajectory analysis is determined, and then a determination is made as to whether a collision is imminent based on the collision prediction and on the estimated size of the potential threat.
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Citations
28 Claims
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1. A method of detecting an imminent collision comprising the steps of:
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producing from imagery a depth map of a scene proximate a platform;
detecting a potential threat in the depth map;
estimating the size of the detected potential threat;
estimating the position of the detected potential threat;
estimating the velocity of the detected potential threat;
performing a trajectory analysis of the detected potential threat using the estimated position and the estimated velocity; and
performing a collision prediction based on the trajectory analysis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A collision detection system, comprising:
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a stereo camera pair for producing imagery of a scene;
a stereo image preprocessor for preprocessing said imagery;
a depth map generator for producing a depth map from said preprocessed imagery; and
a collision detector for determining from said depth map and from said imagery if a collision is imminent;
wherein said collision detector detects a potential threat in said depth map;
wherein said collision detector estimates size, position, and velocity of said detected potential threat;
wherein said collision detector performs a trajectory analysis of said detected potential threat using said estimated position and said estimated velocity;
wherein said collision detector predicts a collision based on said trajectory analysis; and
wherein said collision detector determines if a collision is imminent based on said collision prediction and on said estimated size. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A computer readable medium having stored thereon a plurality of instructions, the plurality of instruction including instructions which, when executed by a processor causes the processor to perform the steps comprising:
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producing from imagery a depth map of a scene proximate a platform;
detecting a potential threat in the depth map;
estimating the size of the detected potential threat;
estimating the position of the detected potential threat;
estimating the velocity of the detected potential threat;
performing a trajectory analysis of the detected potential threat using the estimated position and the estimated velocity; and
performing a collision prediction based on the trajectory analysis. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28)
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Specification