FUSION OF OBSTACLE DETECTION USING RADAR AND CAMERA
First Claim
1. A vehicle obstacle detection system comprising:
- an imaging system for capturing objects in a field of view;
a radar device for sensing objects in a substantially same field of view, the substantially same field of view being partitioned into an occupancy grid having a plurality of observation cells;
a fusion module for receiving radar data from the radar device and imaging data from the imaging system, the fusion module projecting the occupancy grid and associated radar data onto the captured image, the fusion module extracting features from each corresponding cell using sensor data from the radar device and imaging data from the imaging system; and
a primary classifier for determining whether an extracted feature extracted from a respective observation cell is an obstacle.
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Accused Products
Abstract
A vehicle obstacle detection system includes an imaging system for capturing objects in a field of view and a radar device for sensing objects in a substantially same field of view. The substantially same field of view is partitioned into an occupancy grid having a plurality of observation cells. A fusion module receives radar data from the radar device and imaging data from the imaging system. The fusion module projects the occupancy grid and associated radar data onto the captured image. The fusion module extracts features from each corresponding cell using sensor data from the radar device and imaging data from the imaging system. A primary classifier determines whether an extracted feature extracted from a respective observation cell is an obstacle.
44 Citations
23 Claims
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1. A vehicle obstacle detection system comprising:
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an imaging system for capturing objects in a field of view; a radar device for sensing objects in a substantially same field of view, the substantially same field of view being partitioned into an occupancy grid having a plurality of observation cells; a fusion module for receiving radar data from the radar device and imaging data from the imaging system, the fusion module projecting the occupancy grid and associated radar data onto the captured image, the fusion module extracting features from each corresponding cell using sensor data from the radar device and imaging data from the imaging system; and a primary classifier for determining whether an extracted feature extracted from a respective observation cell is an obstacle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for determining an obstacle exterior of a vehicle comprising the steps of:
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capturing objects in a field of view by an imaging system; sensing objects in a substantially same field of view a radar device, partitioning the substantially same field of view sensed by the radar device into an occupancy grid having a plurality of observation cells; a fusion module receiving radar data from the radar device and imaging data from the imaging system, the fusion module projecting the occupancy grid and associated radar data onto the captured image, the fusion module extracts features from each corresponding cell using sensor data from the radar device and imaging data from the imaging system for identifying potential obstacles; and classifying the extracted feature by a primary classifier for determining whether the extracted from a respective observation cell is an obstacle. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23)
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Specification