Automatic Detection of Moving Object by Using Stereo Vision Technique
First Claim
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1. A method for identifying a moving object in front of a vehicle and determining an instantaneous distance of the moving object from the said vehicle, the method comprises the steps of:
- capturing real time images falling in range of an image capturing device in a plurality of frames;
synchronizing the frames so captured to obtain a synchronized frame or an identical frame;
processing of the captured image in the synchronized frame by executing processor implemented steps of;
identifying the moving object by a feature collected from the image of the moving object, wherein the feature includes pixle;
refining or tracking the moving object by a kernel based correlation tracking for the identical frame or the synchronized frame;
stereo-vision based triangulation of the moving object detected after tracking to obtain an instantaneous distance between the moving object and the vehicle; and
refinement of the instantaneous distance by using a kalman filter layer output to remove noise developed in the measurement of the instantaneous distance.
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Abstract
The present invention discloses a system and method for identifying a moving object in front of a vehicle by using stereo vision based technique. The invention also discloses a method and a system for determining an instantaneous distance between the moving object and the vehicle by processing the image of the moving object through a processor and by filtering and refining the image by using a Kalman filter to remove noise.
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Citations
11 Claims
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1. A method for identifying a moving object in front of a vehicle and determining an instantaneous distance of the moving object from the said vehicle, the method comprises the steps of:
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capturing real time images falling in range of an image capturing device in a plurality of frames; synchronizing the frames so captured to obtain a synchronized frame or an identical frame; processing of the captured image in the synchronized frame by executing processor implemented steps of; identifying the moving object by a feature collected from the image of the moving object, wherein the feature includes pixle; refining or tracking the moving object by a kernel based correlation tracking for the identical frame or the synchronized frame; stereo-vision based triangulation of the moving object detected after tracking to obtain an instantaneous distance between the moving object and the vehicle; and refinement of the instantaneous distance by using a kalman filter layer output to remove noise developed in the measurement of the instantaneous distance. - View Dependent Claims (2, 3, 4, 5)
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6. A system for identifying a moving object in front of a vehicle and determining the instantaneous distance between the moving object and the said vehicle, the system comprises of:
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an image capturing device adapted to capture images falling in the range of the image capturing device in a plurality of frames; a system clock coupled with the image capturing device for synchronizing the plurality of frames to obtain a synchronized frame or an identical frame; a processor for processing the captured image in the synchronized frame and capable of executing programmed instructions for filtering and refining the instantaneous distance measured between the moving object and the vehicle by using a Kalman filter layer; and a calculating unit for determining the instantaneous distance between the moving object and the vehicle.
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- 8. The system of claim 8, wherein the image capturing device includes a camera.
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9. The system of claim 12, wherein the camera is mounted on the vehicle and is in motion.
Specification