Obstacle detection apparatus and method
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Abstract
A plurality of cameras respectively input an image from different camera positions. The plurality of cameras is on a moving object. An image memory stores a plurality of images input by the plurality of cameras. An image transformation unit transforms one image input by a first camera using each of a plurality of transformation parameters each representing a geometrical relationship among a predetermined plane, the first camera, and a second camera, and generates a plurality of transformed images from a view position of the second camera. A matching processing unit compares each of the plurality of transformed images with another image input by the second camera for each area consisting of pixels, and calculates a coincidence degree of each area between each transformed image and another image. An obstacle detection unit detects an obstacle area consisting of areas each having a coincidence degree below a threshold from another image.
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Citations
31 Claims
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1-21. -21 (Canceled).
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22. :
- A computer-implemented obstacle detection system, comprising;
a first camera and a second camera each configured to input images, the first camera and the second camera being disposed on a moving object on a road plane, a view position of the first camera being different from a view position of the second camera on the moving object;
an image memory configured to store a plurality of images input through the first camera and the second camera;
an image transformation unit configured to transform an image input through the first camera into a plurality of transformed images using each transformation parameter previously calculated based on different geometrical relationships among the road plane, the first camera and the second camera, wherein each transformation parameter differently represents a transformation from the view position of the second camera;
a matching processing unit configured to compare each area of the same position in each of the plurality of transformed images with a corresponding area of the same position in another image input through the second camera, to calculate coincidence degrees of compared areas of the same position between each transformed image and another image, and to select a maximum coincidence degree from the coincidence degrees of the compared areas of the same position; and
an obstacle detection unit configured to detect an obstacle area based on areas having the maximum coincidence degree in which the maximum coincidence degree is below a threshold. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31)
- A computer-implemented obstacle detection system, comprising;
Specification