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CLEAR PATH DETECTION USING A HIERACHICAL APPROACH

  • US 20100097456A1
  • Filed: 10/19/2009
  • Published: 04/22/2010
  • Est. Priority Date: 04/24/2008
  • Status: Active Grant
First Claim
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1. Method for detecting a clear path of travel for a vehicle using an image generated by a camera, the method comprising:

  • monitoring the image;

    utilizing a first patch-based analysis of the image comprisingdividing the image into a plurality of patches, andanalyzing each patch to determine a first clear path confidence likelihood for each of the patches of the first patch-based analysis;

    defining each of the patches with the first clear path confidence likelihood greater than a first threshold confidence likelihood as a clear path patch;

    utilizing a second analysis upon a portion of the patches with the first clear path confidence not greater than the first threshold confidence likelihood to determine a second clear path confidence likelihood for each of the patches of the second analysis;

    defining each of the patches of the second analysis with the second clear path confidence likelihood greater than a second threshold confidence likelihood as a clear path patch; and

    identifying the clear path of travel for the vehicle based upon the clear path patches.

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