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FAST OBSTACLE DETECTION

  • US 20130070095A1
  • Filed: 09/16/2011
  • Published: 03/21/2013
  • Est. Priority Date: 09/16/2011
  • Status: Active Grant
First Claim
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1. A system for detecting an obstacle comprising:

  • one camera positioned on an apparatus to capture a video stream of images of an area of motion in which the apparatus is moving; and

    an obstacle detection function configured to receive the video stream of images, and to process the video stream of images by;

    selecting an Nth image frame from a sequence of N images received in the video stream;

    determining N−

    1 difference images by subtracting each of the N−

    1 previous images from the Nth image;

    adding the N−

    1 difference images to generate a combined difference image;

    performing a perspective transformation on the combined difference image to generate a transformed image;

    detecting edges of obstacles in the transformed image; and

    generating a signal indicating detection of an obstacle in the area of motion.

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