SYSTEMS AND METHODS FOR DETECTING LOW-HEIGHT OBJECTS IN A ROADWAY
First Claim
1. A driver-assist object detection system for a vehicle, the system comprising:
- at least one image capture device configured to capture a plurality of images representative of an area surrounding the vehicle;
a data interface; and
at least one processing device configured to;
receive, via the data interface, a first image from among the plurality of images and at least a second image from among the plurality of images;
analyze the first image and at least the second image to determine a reference plane corresponding to a road plane;
locate a target object in the first image and in the second image;
determine a difference in a size of at least one dimension of the target object between the first image and the second image;
use the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane; and
cause a change in at least a directional course of the vehicle if the determined height of the object exceeds a predetermined threshold.
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Accused Products
Abstract
Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver-assist object detection system is provided for a vehicle. One or more processing devices associated with the system receive at least two images from a plurality of captured images via a data interface. The device(s) analyze the first image and at least a second image to determine a reference plane corresponding to the roadway the vehicle is traveling on. The processing device(s) locate a target object in the first two images, and determine a difference in a size of at least one dimension of the target object between the two images. The system may use the difference in size to determine a height of the object. Further, the system may cause a change in at least a directional course of the vehicle if the determined height exceeds a predetermined threshold.
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Citations
20 Claims
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1. A driver-assist object detection system for a vehicle, the system comprising:
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at least one image capture device configured to capture a plurality of images representative of an area surrounding the vehicle; a data interface; and at least one processing device configured to; receive, via the data interface, a first image from among the plurality of images and at least a second image from among the plurality of images; analyze the first image and at least the second image to determine a reference plane corresponding to a road plane; locate a target object in the first image and in the second image; determine a difference in a size of at least one dimension of the target object between the first image and the second image; use the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane; and cause a change in at least a directional course of the vehicle if the determined height of the object exceeds a predetermined threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle, comprising:
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a body; at least one image capture device configured to capture a plurality of images representative of an area surrounding the vehicle; a data interface; and at least one processing device configured to; receive, via the data interface, a first image from among the plurality of images and at least a second image from among the plurality of images; analyze the first image and at least the second image to determine a reference plane corresponding to a road plane; locate a target object in the first image and in the second image; determine a difference in a size of at least one dimension of the target object between the first image and the second image; use the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane; and cause a change in at least a directional course of the vehicle if the determined height of the object exceeds a predetermined threshold. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for detecting an object in a roadway, the method comprising:
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capturing, via at least one image capture device, a plurality of images representative of an area surrounding the vehicle; receiving a first image from among the plurality of images and at least a second image from among the plurality of images; analyzing the first image and at least the second image to determine a reference plane corresponding to a road plane; locating a target object in the first image and in the second image; determining a difference in a size of at least one dimension of the target object between the first image and the second image; using the determined difference in the size of the at least one dimension to determine at least a height of the target object relative to the road plane; and causing a change in at least a directional course of the vehicle if the determined height of the object exceeds a predetermined threshold. - View Dependent Claims (20)
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Specification