Obstacle detection using stereo vision
First Claim
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1. A method for detecting an obstacle, the method comprising:
- identifying an object in a field by analyzing one or more images in color space;
determining a vegetation height of a vegetation canopy at corresponding coordinates within the field;
detecting an object height of the object to identify a screened object having an object height exceeding a vegetation height;
estimating a range associated with the screened object with respect to a vehicle;
estimating dimensions associated with the screened object; and
establishing an obstacle avoidance zone for the vehicle based on the estimated range and dimensions.
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Abstract
A system and method for detecting an obstacle comprises determining a vegetation height of a vegetation canopy at corresponding coordinates within a field. An object height is detected, where the object height of a object exceeds the vegetation height. A range of the object is estimated. The range of the object may be references to a vehicle location, a reference location, or absolute coordinates. Dimensions associated with the object are estimated. An obstacle avoidance zone is established for the vehicle based on the estimated range and dimensions.
107 Citations
28 Claims
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1. A method for detecting an obstacle, the method comprising:
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identifying an object in a field by analyzing one or more images in color space;
determining a vegetation height of a vegetation canopy at corresponding coordinates within the field;
detecting an object height of the object to identify a screened object having an object height exceeding a vegetation height;
estimating a range associated with the screened object with respect to a vehicle;
estimating dimensions associated with the screened object; and
establishing an obstacle avoidance zone for the vehicle based on the estimated range and dimensions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A system for detecting an obstacle, the method comprising:
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a row detection module for determining a vegetation height of a vegetation canopy at corresponding coordinates within a field;
an obstacle detection module for detecting an object to determine whether an object height of an object exceeds the vegetation height;
an object estimator for estimating a range associated with the object with respect to a vehicle and estimating dimensions associated with the object; and
a vehicular guidance system for establishing an obstacle avoidance zone for the vehicle based on the estimated range and dimensions. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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Specification