Vision Method and System for Automatically Detecting Objects in Front of a Motor Vehicle
First Claim
1. A vision method for automatically detecting objects in a scene in front of a motor vehicle, comprising the steps of:
- detecting images from a region in the front of the vehicle by a vehicle mounted imaging means;
generating from the detected images a processed image containing regions-of-interest and one disparity information and vehicle-to-scene distance information;
comparing the regions-of-interest of the processed image to template objects relating to possible existence of the objects in front of the motor vehicle;
calculating for each of the template objects a score relating to a match between the processed image and the template object;
identifying large scores of sufficient absolute magnitude of the calculated scores;
applying an algorithm adapted to identify groups of the large scores; and
assigning the identified group of large scores to a single match object.
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Abstract
A vision method for automatically detecting objects in front of a motor vehicle, comprises the steps of detecting images from a region in front of the vehicle by a vehicle mounted imaging means; generating from said detected images a processed image, containing disparity or vehicle-to-scene distance information; comparing regions-of-interest of said processed image to template objects relating to possible objects in front of the motor vehicle; calculating for each template object a score relating to the match between said processed image and the template object; and identifying large scores of sufficient absolute magnitude of said calculated scores. The vision method further comprises the steps of applying an algorithm adapted to identify groups of said large scores, and assigning an identified group of large scores to a single match object.
26 Citations
15 Claims
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1. A vision method for automatically detecting objects in a scene in front of a motor vehicle, comprising the steps of:
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detecting images from a region in the front of the vehicle by a vehicle mounted imaging means; generating from the detected images a processed image containing regions-of-interest and one disparity information and vehicle-to-scene distance information; comparing the regions-of-interest of the processed image to template objects relating to possible existence of the objects in front of the motor vehicle; calculating for each of the template objects a score relating to a match between the processed image and the template object; identifying large scores of sufficient absolute magnitude of the calculated scores; applying an algorithm adapted to identify groups of the large scores; and assigning the identified group of large scores to a single match object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A vision system for automatically detecting objects in front of a motor vehicle, comprising:
- a vehicle mounted imaging means for detecting images from a region in front of the vehicle, and
an electronic processing means arranged to carry out the steps of comparing regions-of-interest of a processed image, which processed image is generated from the detected images and which contains one of disparity information and vehicle-to-scene distance information, to template objects relating to the possible existence of the objects in front of the motor vehicle;
calculating for each template object a score relating to the match between the processed image and the template object;
identifying large scores of sufficient absolute magnitude of the calculated scores;
applying an algorithm adapted to identify groups of the large scores; and
assigning an identified group of large scores to a single match object.
- a vehicle mounted imaging means for detecting images from a region in front of the vehicle, and
Specification