Integrated Vehicular System for Low Speed Collision Avoidance
First Claim
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1. A method of providing range measurements for use with a vehicle, the method comprising the steps of:
- (a) visually sensing the area adjacent the vehicle to produce visual sense data;
(b) range sensing objects around the vehicle to produce range sense data;
(c) segmenting the visual sense data by means of thresholding the intensity and hue of the visual sense data to Produce segmented visual sense data;
(d) combining the segmented visual sense data and the range sense data to produce an estimate of the objects around a vehicle.
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Abstract
A method of providing range measurements for use with a vehicle, the method comprising the steps of: a) visually sensing (2) the area adjacent the vehicle to produce visual sense data (22); b) range sensing (26) objects around the vehicle to produce range sense data; c) combining the visual sense data and the range sense data to produce, with respect to the vehicle, an estimate of ranges to the objects around the vehicle (28). The estimate of ranges to the objects around the vehicle may be displayed (29) to a driver.
27 Citations
15 Claims
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1. A method of providing range measurements for use with a vehicle, the method comprising the steps of:
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(a) visually sensing the area adjacent the vehicle to produce visual sense data; (b) range sensing objects around the vehicle to produce range sense data; (c) segmenting the visual sense data by means of thresholding the intensity and hue of the visual sense data to Produce segmented visual sense data; (d) combining the segmented visual sense data and the range sense data to produce an estimate of the objects around a vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for range measuring comprising:
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(a) capturing an image of a scene associated with the range measurement; (b) performing a series of ultrasonic range measurements of the scene; (c) performing a series of calibrations of the captured image to determine a transformation matrix equation to find the relationship between image points and corresponding 3D world co-ordinates (X, Y,Z); (d) segmenting said images by classifying image pixels as black or white using a threshold m in an intensity channel I, calculating a hue (H) for the pixel and segmenting the image using an upper and lower thresholds. - View Dependent Claims (11, 12, 13, 14)
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15. (canceled)
Specification