Object detecting system and object detecting method
First Claim
1. An object detecting system for a vehicle moving along a surface, the object detecting system comprising:
- an imaging device disposed on the vehicle and capturing a two-dimensional image representing a scene ahead of the vehicle, the two-dimensional image having a vertical axis generally perpendicular to the surface and a horizontal axis generally parallel to the surface; and
a controller receiving the image from the imaging device, the controller including;
a feature extraction unit reading the image and extracting from the image edges of a feature;
a motion-information calculator evaluating the feature and outputting feature velocity information for each image pixel showing the edges of the feature;
a coordinate transformation unit reading two-dimensional position coordinates of the image pixels and outputting transformed three-dimensional position coordinates; and
an object-attribute determination unit determining whether the feature is a moving object, the determining being based on the transformed three-dimensional position coordinates received from the coordinate transformation unit and on the feature velocity information received from the motion-information calculator.
1 Assignment
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Accused Products
Abstract
An object detecting system includes an imaging device disposed on a vehicle and a controller that receives a two-dimensional image, which represents a scene ahead of the vehicle, from the imaging device. The controller includes a feature extraction unit, a motion-information calculator, a coordinate transformation unit, and an object-attribute determination unit. The feature extraction unit reads the image and extracts the edges of a feature in the image. The motion-information calculator evaluates the feature in the image and outputs feature velocity information for each image pixel that shows the edges of the feature. The coordinate transformation unit reads two-dimensional position coordinates of the image pixels and outputs transformed three-dimensional position coordinates. And the object-attribute determination unit determines, based on the transformed three-dimensional position coordinates and on the feature velocity information, whether the feature is a moving object.
27 Citations
19 Claims
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1. An object detecting system for a vehicle moving along a surface, the object detecting system comprising:
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an imaging device disposed on the vehicle and capturing a two-dimensional image representing a scene ahead of the vehicle, the two-dimensional image having a vertical axis generally perpendicular to the surface and a horizontal axis generally parallel to the surface; and
a controller receiving the image from the imaging device, the controller including;
a feature extraction unit reading the image and extracting from the image edges of a feature;
a motion-information calculator evaluating the feature and outputting feature velocity information for each image pixel showing the edges of the feature;
a coordinate transformation unit reading two-dimensional position coordinates of the image pixels and outputting transformed three-dimensional position coordinates; and
an object-attribute determination unit determining whether the feature is a moving object, the determining being based on the transformed three-dimensional position coordinates received from the coordinate transformation unit and on the feature velocity information received from the motion-information calculator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An object detecting system for a vehicle moving along a surface, the object detecting system comprising:
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an imaging device capturing an image representing a scene ahead of the vehicle; and
control means for determining in less than two seconds if an object in the image is a moving object. - View Dependent Claims (10)
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11. An object detecting system comprising:
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image capturing means for capturing an image of a scene ahead of a vehicle;
feature extracting means for extracting a feature from the image captured by the image capturing means;
motion-information calculating means for calculating feature velocity information about pixels representing the feature;
coordinate transforming means for transforming position coordinates of the pixels into three-dimensional position coordinates of a three-dimensional coordinate system; and
object-attribute determining means for determining whether the feature is a moving object, the determining being based on the three-dimensional position coordinates of the pixels and the feature velocity information. - View Dependent Claims (12)
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13. An object detecting method for detecting a moving object in an image representing a scene ahead of the vehicle, the method comprising:
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preparing velocity information about a first set of pixels showing a feature of an object in the image;
transforming two-dimensional coordinates of the first set of pixels into three-dimensional coordinates; and
determining whether the object is a moving object based on the prepared feature velocity information and on the transformed three-dimensional position coordinates. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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Specification