Method and apparatus for ground detection and removal in vision systems
First Claim
Patent Images
1. A method of performing vision processing comprising:
- producing a depth map of a scene proximate a platform, wherein the depth map is based on an assumed ground plane;
identifying an actual ground plane using the depth map; and
compensating the depth map for differences between the assumed ground plane and the actual ground plane thereby resulting in a compensated depth map including a collection of 3-D points.
2 Assignments
0 Petitions
Accused Products
Abstract
A vision system that forms a map of a scene proximate a platform, e.g., a vehicle, that determines the actual ground plane form the map, and that corrects the map for differences between the actual ground plane and an assumed ground plane. The vision system may remove the actual ground plane from the map to prevent false positives. The vision system can further identify and classify objects and, if appropriate, take evasive action.
55 Citations
30 Claims
-
1. A method of performing vision processing comprising:
-
producing a depth map of a scene proximate a platform, wherein the depth map is based on an assumed ground plane;
identifying an actual ground plane using the depth map; and
compensating the depth map for differences between the assumed ground plane and the actual ground plane thereby resulting in a compensated depth map including a collection of 3-D points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11-16. -16. (canceled)
-
17. A collision avoidance system comprising:
-
a collision detection system comprising;
a stereo camera pair for producing imagery of a scene;
a stereo image preprocessor for preprocessing said imagery;
a map generator for producing from said preprocessed imagery a map referenced to an assumed ground plane;
a target processor for determining an actual ground plane from said map and for compensating the depth map for differences between the assumed ground plane and the actual ground plane, thereby resulting in a compensated depth map including a collection of 3-D points. - View Dependent Claims (18, 19, 20)
-
-
21-25. -25. (canceled)
-
26. A method of performing vision processing comprising:
-
producing a depth map of original stereo images of a scene proximate a platform, wherein the depth map is based on an assumed ground plane;
identifying an actual ground plane using the depth map; and
correcting the original stereo images for differences between the assumed ground plane and the actual ground plane thereby resulting in a corrected depth map including a collection of 3-D points. - View Dependent Claims (27, 28)
-
-
29. A collision avoidance system comprising:
-
a platform;
a collision detection system on said platform, said collision detection system comprising;
a stereo camera pair for producing imagery of a scene;
a stereo image preprocessor for preprocessing said imagery;
a map generator for producing from said preprocessed imagery a map referenced to an assumed ground plane; and
a target processor for determining the actual ground plane from said map and for correcting the original stereo images based on the actual ground plane thereby resulting in a corrected depth map including a collection of 3-D points.
-
-
30. A computer readable medium storing a vision system program that controls a computer to:
-
produce a depth map from input imagery;
determine an actual ground plane from said depth map; and
correcting the original stereo images based on the actual ground plane thereby resulting in a corrected depth map including a collection of 3-D points.
-
Specification