MEASURING THE RANGE TO AN OBJECT, IN AN IMAGE, USING SIZE CATEGORIZATION
First Claim
1. A method for estimating distance from a host vehicle to an object, comprising:
- capturing image data;
identifying an object in the image data;
determining a relative location of the object within at least one frame of image data;
determining a median feature measurement, in pixels, of the object;
classifying the object as belonging to at least one of a plurality of size categories as a function of the relative location and median feature measurement of the object;
identifying a distance range to the object based on the classification.
2 Assignments
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Accused Products
Abstract
When determining a range of distance to an object or vehicle in front of or behind the host vehicle, image data of the object is captured and analyzed to determine the relative location of the object relative to the bottom of an image frame containing the object as well as with a feature measurement of the object measured in pixels across a plurality of image frames. The object is classified into one of a plurality of discrete size categories as a function of its relative location and median feature measurement. Once the object is classified, a table lookup is performed to identify the distance range for the object relative to a host vehicle as a function of a monitored median feature measurement of the object and the discrete size category assigned to the object.
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Citations
26 Claims
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1. A method for estimating distance from a host vehicle to an object, comprising:
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capturing image data; identifying an object in the image data; determining a relative location of the object within at least one frame of image data; determining a median feature measurement, in pixels, of the object; classifying the object as belonging to at least one of a plurality of size categories as a function of the relative location and median feature measurement of the object; identifying a distance range to the object based on the classification. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A processor configured to estimate distance from a host vehicle to an object, wherein the processor is configured to:
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receive image data; identify an object in the image data; determine a relative location of the object within at least one frame of image data; determine a median feature measurement, in pixels, of the object; classify the object as belonging to at least one of a plurality of size categories as a function of the relative location and median feature measurement of the forward object; and identify a distance range to the object based on the classification. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method for estimating distance from a host vehicle to a forward object, comprising:
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receiving image data; identifying an object in the image data; determining the distance of a lower surface of the object within at least one frame of image data using a known camera geometry; determining a median feature measurement, in pixels, of the object; classifying the object as belonging to at least one of a plurality of size categories as a function of the distance and median feature measurement of the object; identifying a distance range that correlates to a median feature measurement value for the size category to which the object belongs; interpolating a relative distance within the distance range from the median feature measurement of the object, monitoring the relative distance to the object as a function of changes in the median feature measurement value of the object and the discrete size category to which the object belongs; and correlating the relative distance to a following time for the host vehicle behind the object. - View Dependent Claims (26)
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Specification