ROAD VERTICAL CONTOUR DETECTION
First Claim
1. A computerized method for detecting a vertical deviation in contour of a road, the method performable by a driver assistance system mountable in a host vehicle while the host vehicle is moving, wherein the driver assistance system includes a camera operatively connectible to a processor, the method comprising:
- capturing from the camera a first image of the road at a first time, a second image of the road at a second time later than the first time, and a third image of the road at a third time later than the second time;
by matching image points of the road in the first image and corresponding image points of the road in the second image, computing a first homography which transforms the first image of the road to the second image of the road;
by matching image points of the road in the second image and corresponding image points of the road in the third image, computing a second homography which transforms the second image of the road to the third image of the road;
chaining the first and second homography to compute a chained homography;
by using the chained homography as an initial guess, computing a third homography which transforms the first image of the road to the third image of the road.
1 Assignment
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Accused Products
Abstract
A driver assistance/control system includes a camera operatively connectible to a processor mountable in a host vehicle. A vertical deviation in road contour is detected while the host vehicle is moving. First, second and third images of the road are captured from the camera. By matching image points of the road in the first image and corresponding image points of the road in the second image, a first homography is computed which transforms the first image of the road to the second image of the road. A second homography is computed which transforms the second image of the road to the third image of the road. A chained homography is computed by chaining the first and second homographies. By using the chained homography as an initial guess, a third homography is computed which transforms the first image of the road to the third image of the road.
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Citations
19 Claims
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1. A computerized method for detecting a vertical deviation in contour of a road, the method performable by a driver assistance system mountable in a host vehicle while the host vehicle is moving, wherein the driver assistance system includes a camera operatively connectible to a processor, the method comprising:
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capturing from the camera a first image of the road at a first time, a second image of the road at a second time later than the first time, and a third image of the road at a third time later than the second time; by matching image points of the road in the first image and corresponding image points of the road in the second image, computing a first homography which transforms the first image of the road to the second image of the road; by matching image points of the road in the second image and corresponding image points of the road in the third image, computing a second homography which transforms the second image of the road to the third image of the road; chaining the first and second homography to compute a chained homography; by using the chained homography as an initial guess, computing a third homography which transforms the first image of the road to the third image of the road. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A driver assistance system mountable in a host vehicle, wherein the driver assistance system includes a camera operatively connectible to a processor, wherein the driver assistance system is operable while the host vehicle is moving to detect a vertical deviation in contour of a road, wherein a first image is captured at a first time, a second image is captured at a second time later than the first time and a third image is captured at a third time later than the second time,
wherein image points of the road in the first image are matched to corresponding image points of the road in the second image to compute a first homography which transforms the first image of the road to the second image of the road, wherein image points of the road in the second image are matched to corresponding image points of the road in the third image to compute a second homography which transforms the second image of the road to the third image of the road; - wherein a chained homography is computed by chaining the first homography with the second homography and
and by using by using the chained homography as an initial guess, a third homography is computed which transforms the first image of the road to the third image of the road. - View Dependent Claims (11, 12, 13, 14, 15, 16)
- wherein a chained homography is computed by chaining the first homography with the second homography and
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17. A computerized method for detecting a vertical deviation in contour of a road, the method performable by a driver assistance system mountable in a host vehicle while the host vehicle is moving, wherein the driver assistance system includes a camera operatively connectible to a processor, the method comprising:
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capturing from the camera a first image of the road at a first time and a second image of the road at a second time; by matching image points of the road in the first image and corresponding image points of the road in the second image, computing a homography which transforms the first image of the road to the second image of the road; use the homography to align and warp the first image toward the second image to produce thereby a warped first image; compute the optical flow between the second image to the warped first image; comparing the optical flow with a road surface optical flow based on a road surface model to produce thereby a residual optical flow different from the road surface model, thereby producing a residual optical flow different from the road surface optical flow. - View Dependent Claims (18, 19)
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Specification