MULTI-SURFACE MODEL-BASED TRACKING
First Claim
1. A system for detecting a vehicle, the system comprising:
- a controller configured toreceive images from a camera mounted on a first vehicle,identify a surface of a second vehicle located around the first vehicle based on the images,generate a three-dimensional model associated with the second vehicle, the three-dimensional model including a first plane and a second plane approximately perpendicular to the first plane, wherein the first plane is associated with the identified surface of the second vehicle, andtrack a position of the second vehicle using the three-dimensional model after the identified surface falls at least partially outside of a field-of-view of the at least one camera.
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Accused Products
Abstract
Systems and methods for detecting a vehicle. One system includes a controller. The controller is configured to receive images from a camera mounted on a first vehicle, identify a surface of a second vehicle located around the first vehicle based on the images, and generate a three-dimensional model associated with the second vehicle. The model includes a first plane and a second plane approximately perpendicular to the first plane. The first plane of the model is associated with the identified surface of the second vehicle. The controller is further configured to track a position of the second vehicle using the three-dimensional model after the identified surface falls at least partially outside of a field-of-view of the at least one camera.
52 Citations
19 Claims
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1. A system for detecting a vehicle, the system comprising:
a controller configured to receive images from a camera mounted on a first vehicle, identify a surface of a second vehicle located around the first vehicle based on the images, generate a three-dimensional model associated with the second vehicle, the three-dimensional model including a first plane and a second plane approximately perpendicular to the first plane, wherein the first plane is associated with the identified surface of the second vehicle, and track a position of the second vehicle using the three-dimensional model after the identified surface falls at least partially outside of a field-of-view of the at least one camera. - View Dependent Claims (2, 3, 4, 5, 7, 8, 9, 10, 11)
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6. The system of claim 6, wherein the controller is configured to track a position of the second vehicle by:
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receiving updated images from the at least one camera, extracting features from the updated images, determining if the extracted features fit the first plane of the three-dimensional model, when the extracted features do not fit the first plane of the three-dimensional model, determining if the extracted features fit the second plane of the three-dimensional model, and when the extracted features fit the second plane of the three-dimensional model, updating the three-dimensional model based on the extracted features.
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12. A method for detecting a vehicle, the method comprising:
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receiving, at at least one controller, images from at least one camera mounted on a first vehicle; detecting, by the at least one controller, a surface of a second vehicle located around the first vehicle based on the images; generating, by the at least one controller, a three-dimensional model representing the second vehicle, the three-dimensional model including a first plane and a second plane approximately perpendicular to the first plane, wherein the first plane represents the identified surface of the second vehicle; and determining, by the at least one controller, a position of the second vehicle using the model and updated data from the at least one camera after the identified surface of the second vehicle falls at least partially outside of a field-of-view of the at least one camera. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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Specification