ROAD VERTICAL CONTOUR DETECTION

• US 20130141580A1
• Filed: 12/04/2012
• Published: 06/06/2013
• Est. Priority Date: 12/06/2011
• Status: Active Grant

• Current Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Original Assignee: Mobileye Technologies Limited (Intel Corporation)
• Inventors: Stein, Gideon, Shashua, Amnon
• Granted Patent: US 9,118,816 B2
• Time in Patent Office: Days
• US Class Current: 348/148
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 40/076 Slope angle of the road
• 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: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

The driver assistance system includes a camera operatively connectable to a processor. The driver assistance system is operable while the host vehicle is moving to detect a deviation in vertical contour of a road. A first image frame and a second image frame are captured in the field of view of the camera. Image motion is processed between respective images of the road derived from the first image frame and the second image frame. The vertical contour of the road is estimated using a road surface model of the road and the deviation in the vertical contour is computed from the road surface model.

Claims

1. A computerized method for detecting a deviation in vertical contour of a road, the method performable by a driver assistance system mountable in a host vehicle while the host vehicle is moving, wherein the driver assistance system includes a camera operatively connectable to a processor, the method comprising:

capturing a first image frame and a second image frame in the field of view of the camera; and

processing image motion between respective images of the road, wherein said images of the road are derived from said first image frame and said second image frame, wherein said processing said image motion between said images of the road includes estimating the vertical contour of the road using a road surface model of the road; and

computing the deviation in the vertical contour from said road surface model.

2. The method of claim 1, wherein said computing the deviation in the vertical contour from said road surface model includes estimating optical flow between a plurality of first image patches of the road derived from said first image frame and corresponding second image patches of the road derived from said second image frame.

3. The method of claim 2, wherein the deviation in the vertical contour is determined by comparing said optical flow with an optical flow as predicted by said road surface model and producing thereby a residual optical flow indicating the deviation.

4. The method of claim 1, further comprising:

capturing a third image frame in the field of view of the camera;

second processing of image motion between respective images of the road derived from said third image frame and at least one of said first and second image frames;

computing a multi-frame road surface model by combining a road profile of the road derived from said road surface model based on said first image frame and said second image frame with said second processing.

5. The method of claim 4, further comprising:

mapping said multi-frame road surface model from and at least one previous image frame selected from the group consisting of said first and second image frames to said third image frame by using a homography between said at least one previous image frame to said third image frame.

6. The method of claim 1, wherein said processing motion of said images of the road includes:

initial warping said second image frame toward said first image frame assuming a planar model for the contour of the road, thereby producing a warped second image frame.

7. The method of claim 6, wherein said initial warping includes:

aligning said second image frame with said first image frame by adjusting for at least one image shift due to at least one motion of the vehicle relative to the road, wherein said at least one motion is selected from the group consisting of;

yaw, pitch and roll; and

adjusting for relative scale change between said second image frame and said first image frame, wherein said relative scale change arises from different distances to the camera.

8. The method of claim 6, further comprising:

selecting a plurality of image points in said first image frame;

for said image points, locating a plurality of image patches disposed respectively about said image points;

tracking the image points by correlating said image patches in said first image frame with corresponding image patches in said warped second image frame, thereby producing a plurality of tracked points.

9. The method of claim 8, wherein said image points are located in a fixed distribution on the image of the road surface.

10. The method of claim 8, further comprising:

fitting the tracked points to a homography;

refined warping said warped second image frame toward said first image frame thereby correcting said initial warping by using said homography and producing a refinely warped second image frame.

11. The method of claim 10, further comprising:

computing optical flow between said refinely warped second image frame and said first image frame; and

comparing said optical flow with a road surface optical flow based on a road surface model, wherein the deviation in vertical contour of the road produces a residual optical flow different from said road surface optical flow.

12. A driver assistance system including a camera and a processor configured to perform the computerized method, according to claim 1, for detecting a vertical contour of a road.

13. A driver assistance system mountable in a host vehicle, wherein the driver assistance system includes a camera operatively connectable to a processor, wherein the driver assistance system is operable while the host vehicle is moving to detect a deviation in vertical contour of a road, wherein a first image frame and a second image frame are captured in the field of view of the camera, wherein image motion is processed between respective images of the road, wherein said images of the road are derived from said first image frame and said second image frame, wherein the vertical contour of the road is estimated using a road surface model of the road and the deviation in the vertical contour is computed from said road surface model.

14. The driver assistance system of claim 13, wherein optical flow is estimated between a plurality of first image patches of the road derived from said first image frame and corresponding second image patches of the road derived from said second second image frame.

15. The driver assistance system of claim 14, wherein the deviation in the vertical contour is determined by comparing said optical flow with an optical flow as predicted by said road surface model to produce thereby a residual optical flow indicating the deviation.