VEHICLE VISION SYSTEM WITH IMAGE CLASSIFICATION
First Claim
1. A vision system of a vehicle, said vision system comprising:
- a camera disposed at a vehicle and having a field of view exterior of the vehicle;
wherein said camera comprises an imaging array having a plurality of photosensing elements arranged in a two dimensional array of rows and columns;
wherein said imaging array comprises a plurality of sub-arrays comprising respective groupings of neighboring photosensing elements;
an image processor operable to process image data captured by said camera;
wherein said image processor is operable to perform a discrete cosine transformation of captured image data;
wherein a result of the discrete cosine transformation is put into a K-Means classifier;
wherein a Markov model compares at least one sub-array with a neighboring sub-array; and
wherein said image processor is operable to adjust a classification of a sub-array responsive at least in part to the discrete cosine transformation and said Markov model.
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Abstract
A vision system of a vehicle includes a camera disposed at a vehicle and having a field of view exterior of the vehicle. The camera includes an imaging array having a plurality of photosensing elements arranged in a two dimensional array of rows and columns. The imaging array includes a plurality of sub-arrays comprising respective groupings of neighboring photosensing elements. An image processor is operable to perform a discrete cosine transformation of captured image data, and a Markov model compares at least one sub-array with a neighboring sub-array. The image processor is operable to adjust a classification of a sub-array responsive at least in part to the discrete cosine transformation and the Markov model.
25 Citations
20 Claims
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1. A vision system of a vehicle, said vision system comprising:
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a camera disposed at a vehicle and having a field of view exterior of the vehicle; wherein said camera comprises an imaging array having a plurality of photosensing elements arranged in a two dimensional array of rows and columns; wherein said imaging array comprises a plurality of sub-arrays comprising respective groupings of neighboring photosensing elements; an image processor operable to process image data captured by said camera; wherein said image processor is operable to perform a discrete cosine transformation of captured image data; wherein a result of the discrete cosine transformation is put into a K-Means classifier; wherein a Markov model compares at least one sub-array with a neighboring sub-array; and wherein said image processor is operable to adjust a classification of a sub-array responsive at least in part to the discrete cosine transformation and said Markov model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A vision system of a vehicle, said vision system comprising:
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a camera disposed at a vehicle and having a field of view exterior of the vehicle; wherein said camera comprises an imaging array having a plurality of photosensing elements arranged in a two dimensional array of rows and columns; wherein said imaging array comprises a plurality of sub-arrays comprising respective groupings of neighboring photosensing elements; an image processor operable to process image data captured by said camera; wherein said image processor is operable to perform a discrete cosine transformation of captured image data; wherein said image processor determines a probability that a sub-array is sensing a portion of a scene that belongs to a particular class, and wherein, responsive to the probability determination, said image processor assigns a classification to that sub-array; wherein a Markov model compares the classification of at least one sub-array with a classification of a neighboring sub-array; wherein said image processor is operable to adjust a classification of a sub-array responsive at least in part to the discrete cosine transformation and said Markov model; and wherein said Markov model is operable to change a classification of a sub-array responsive to determining a new classification that best matches the sub-array'"'"'s originally assigned classification and a neighboring sub-array'"'"'s classification. - View Dependent Claims (14, 15, 16)
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17. A vision system of a vehicle, said vision system comprising:
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a camera disposed at a vehicle and having a field of view exterior of the vehicle; wherein said camera comprises an imaging array having a plurality of photosensing elements arranged in a two dimensional array of rows and columns; wherein said imaging array comprises a plurality of sub-arrays comprising respective groupings of neighboring photosensing elements; an image processor operable to process image data captured by said camera; wherein said image processor is operable to perform a discrete cosine transformation of captured image data; wherein said image processor determines a classification for the portion of the scene imaged by a sub-array and assigns that classification to that sub-array; wherein a Markov model compares the classification of at least one sub-array with a classification of a neighboring sub-array; wherein said image processor is operable to adjust a classification of a sub-array responsive at least in part to the discrete cosine transformation and said Markov model; wherein said Markov model compares each sub-array to neighboring sub-arrays to determine whether the classification of each sub-array matches the classification of neighboring sub-arrays; and wherein said Markov model is operable to change a classification of a sub-array responsive to determining a new classification that best matches the sub-array'"'"'s originally assigned classification and a neighboring sub-array'"'"'s classification. - View Dependent Claims (18, 19, 20)
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Specification