Headlight, Taillight And Streetlight Detection
First Claim
1. In a computerized vehicle control system including an image sensor mounted on a moving vehicle, wherein the image sensor captures consecutively in real time a plurality of image frames, a method comprising the steps of:
- (a) in at least one of the image frames, detecting a spot of measurable brightness;
(b) matching in at least one subsequent image frame of the image frames, a corresponding spot, wherein said spot and said corresponding spot are images of an object;
(c) acquiring data respectively from said spot and from said corresponding spot; and
(d) processing said data, thereby classifying the object based on said data, and producing an object classification, wherein substantially all the image frames are available to the computerized vehicle control system and at least one other vehicle control system.
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Accused Products
Abstract
A method in a computerized system including an image sensor mounted in a moving vehicle. The image sensor captures image frames consecutively in real time. In one of the image flames, a spot is detected of measurable brightness; the spot is matched in subsequent image frames. The image frames are available for sharing between the computerized system and another vehicle control system. The spot and the corresponding spot are images of the same object. The object is typically one or more of headlights from an oncoming vehicle, taillights of a leading vehicle, streetlights, street signs and/or traffic signs. Data is acquired from the spot and from the corresponding spot. By processing the data, the object (or spot) is classified. producing an object classification. The vehicle control system controls preferably headlights of the moving vehicle based on the object classification. The other vehicle control system using the image frames is one or more of: lane departure warning system, collision warning system and/or ego-motion estimation system.
124 Citations
29 Claims
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1. In a computerized vehicle control system including an image sensor mounted on a moving vehicle, wherein the image sensor captures consecutively in real time a plurality of image frames, a method comprising the steps of:
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(a) in at least one of the image frames, detecting a spot of measurable brightness; (b) matching in at least one subsequent image frame of the image frames, a corresponding spot, wherein said spot and said corresponding spot are images of an object; (c) acquiring data respectively from said spot and from said corresponding spot; and (d) processing said data, thereby classifying the object based on said data, and producing an object classification, wherein substantially all the image frames are available to the computerized vehicle control system and at least one other vehicle control system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. In a computerized system including an image sensor mounted on a moving vehicle, wherein the image sensor captures in real time an image frame, a method comprising the steps of.
(a) detecting in the image frame a plurality of spots of measurable brightness, wherein said spots are respective images of a plurality of objects; -
(b) acquiring data from said spots; and (c) processing said data, thereby classifying said objects based on said data;
wherein said classifying is performed by previously training with a plurality of known images. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. In a computerized system including an image sensor mounted on a moving vehicle, wherein the image sensor captures in real time an image frame, a method comprising the steps of:
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(a) detecting in the image frame a plurality of spots of measurable brightness, wherein said spots are respective images of a plurality of objects; (b) matching in at least one subsequent image frame of the image frames, a plurality of corresponding spots, wherein said corresponding spots are respective images of said objects; (c) acquiring data from said spots and from said corresponding spots; and (d) processing said data, thereby classifying said objects based on said data;
wherein said classifying includes previously training with a plurality of known images;(e) tracking motion of said spots by comparing respective image frame portions of said spots and said corresponding spots; (f) deactivating high beams upon said classifying said objects as being a portion of a vehicle selected from the group consisting of;
a passing vehicle, a preceding vehicle and an oncoming vehicle; and(g) reactivating high beams based on said tracking motion - View Dependent Claims (29)
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Specification