METHOD AND SYSTEM FOR DETECTING OBJECTS USING FAR INFRARED IMAGES

• US 20080197284A1
• Filed: 02/16/2007
• Published: 08/21/2008
• Est. Priority Date: 02/16/2007
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Prakah-Asante, Kwaku, Rodin, Yelena, Smith, Gregory, Ebenstein, Samuel, Zorka, Nicholas
• Granted Patent: US 8,194,920 B2
• Time in Patent Office: Days
• US Class Current: 250/330
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 21/34 Protecting non-occupants of a vehicle, e.g. pedestrians B60R19/02 takes precedence
• CPC Class Codes: B60R 2300/106 using night vision cameras
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/8053 for bad weather conditions or night vision
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/136 involving thresholding
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: H04N 5/33 Transforming infrared radiation cameras or camera modules for generating image signals from infrared radiation H04N23/20; circuitry of SSIS for transforming infrared radiation into image signals H04N25/20

Abstract

An object detection system is disclosed in at least one embodiment. The system includes a far IR sensor operable to sense thermal radiation of objects and surroundings in a field of view and to generate a far IR image in response thereto, and an image processing device operable to receive and process the far IR image to detect the presence of one or more objects in the field of view. The image processing device can be configured to process the far IR image by generating an initial threshold image based on the far IR image and an initial threshold value, iteratively obtaining a number of successive threshold images based on the far IR image and a number of successively increased threshold values, and determining the presence of one or more objects in the field of view based on the threshold images and threshold values.

Claims

1. An object detection system, the system comprising:

a far IR sensor operable to sense thermal radiation of objects and surroundings in a field of view and to generate a far IR image in response thereto; and

an image processing device operable to receive and process the far IR image to detect the presence of one or more objects in the field of view, the image processing device is configured to process the far IR image by generating an initial threshold image based on the far IR image and an initial threshold value, iteratively obtaining a number of successive threshold images based on the far IR image and a number of successively increased threshold values, and determining the presence of one or more objects in the field of view based on the initial threshold image, the number of successive threshold images, the initial threshold value and the successive threshold values.

2. The object detection system of claim 1, wherein the image processing device is further configured to perform connected component analysis on each of the initial threshold image and the number of threshold images to obtain a number of largest component threshold images.

3. The object detection system of claim 2, wherein the image processing device is further configured to calculate the centroid angle within the field of view for each of the largest component threshold images to obtain a number of centroid angle values.

4. The object detection system of claim 3, wherein the image processing device is further configured to determine the presence of a centroid convergence condition by analyzing the number of centroid angle values as a function of the initial threshold value and the successively incremented threshold values.

5. The object detection system of claim 4, wherein the image processing device is further configured to determine the largest component pixel value for each of the largest component threshold images.

6. The object detection system of claim 5, wherein the image processing device is further configured to determine the presence of a consistency condition by analyzing the largest component pixel value for each of the largest component threshold values as a function of the initial threshold value and the successively incremented threshold values.

7. The object detection system of claim 6, wherein the image processing device is further configured to determine the presence of one or more objects based on the centroid convergence condition and the consistency condition being satisfied.

8. The object detection system of claim 1, wherein the far IR sensor is a 80×

60 far IR camera.

9. The object detection system of claim 1, wherein the pixel dimensions of the far IR image are 60×

20.

10. The object detection system of claim 1, wherein the one or more detected objects is a thermal object of interest.

11. The object detection system of claim 1, wherein the one or more detected objects is a pedestrian or an animal.

12. The object detection system of claim 1, wherein the far IR sensor is configured to generate a gray scale image.

13. A method of detecting an object, the method comprising:

receiving a far IR image generated by a far IR sensor operable to sense thermal radiation of objects and surroundings in a field of view;

processing the far IR image by generating an initial threshold image based on the far IR image and an initial threshold value, iteratively obtaining a number of successive threshold images based on the far IR image and a number of successively increased threshold values; and

determining the presence of one or more objects in the field of view based on the initial threshold image, the number of successive threshold images, the initial threshold value and the successive threshold values.

14. The method of claim 13, further comprising performing connected component analysis on each of the initial threshold image and the number of threshold images to obtain a number of largest component threshold images.

15. The method of claim 14, further comprising calculating the centroid angle within the field of view for each of the largest component threshold images to obtain a number of centroid angle values.

16. The method of claim 15, further comprising determining the presence of a centroid convergence condition by analyzing the number of centroid angle values as a function of the initial threshold value and the successively incremented threshold images.

17. The method of claim 16, further comprising determining the largest component pixel value for each of the largest component threshold values.

18. The method of claim 17, further comprising determining the presence of a consistency condition by analyzing the largest component pixel value for each of the largest component threshold values as a function of the initial threshold value and the successively incremented threshold values.

19. The method of claim 18, further comprising determining the presence of one or more objects based on the centroid convergence condition and the consistency condition being satisfied.

20. An object detection system, the system comprising:

a far IR sensor operable to sense thermal radiation of objects and surroundings in a field of view and to generate a far IR image in response thereto;

a secondary sensor selected from the group consisting of a vision sensor operable to sense objects and surroundings in the field of view and to generate a vision sensor image in response thereto, and a laser sensor operable to sense objects and surroundings in the field of view and to generate a laser sensor image in response thereto; and

a processing device operable to receive and process the far IR image and the vision sensor image or the laser sensor image to detect the presence of one or more objects in the field of view, the image processing device is configured to process the far IR image by generating an initial threshold image based on the far IR image and an initial threshold value, iteratively obtaining a number of successive threshold images based on the far IR image and a number of successively increased threshold values, and determining the presence of one or more objects in the field of view based on the initial threshold image, the number of successive threshold images, the initial threshold value and the successive threshold values.