NAVIGATION BASED ON RADAR-CUED VISUAL IMAGING
First Claim
1. A navigation system for a vehicle, the system comprising:
- at least one image capture device configured to acquire a plurality of images of an environment of a vehicle;
a radar sensor to detect an object in the environment of the vehicle and to provide and output including range information indicative of at least one of a range or range rate between the vehicle and the object; and
at least one processing device programmed to;
receive the plurality of images from the at least one image capture device;
receive the output from the radar sensor;
determine, for each of a plurality of image segments in a first image, from among the plurality of images, and corresponding image segments in a second image, from among the plurality of images, an indicator of optical flow;
determine a value indicative of an expected optical inflation associated with the object in the plurality of images based at least upon the range information from the output of the radar sensor;
determine one or more areas of the second image where the value indicative of an expected optical inflation associated with the object substantially matches the indicator of optical flow;
identify a target object region, including at least a subset of the determined one or more areas of the second image; and
cause a system response based on the identified target object region.
1 Assignment
0 Petitions
Accused Products
Abstract
A navigation system for a vehicle may include at least one image capture device configured to acquire a plurality of images of an environment of a vehicle and a radar sensor to detect an object in the environment of the vehicle and to provide and output including range information indicative of at least one of a range or range rate between the vehicle and the object. The system may also include at least one processing device programmed to: receive the plurality of images from the at least one image capture device; receive the output from the radar sensor; determine, for each of a plurality of image segments in a first image, from among the plurality of images, and corresponding image segments in a second image, from among the plurality of images, an indicator of optical flow; use range information determined based on the output of the radar sensor together with the indicators of optical flow determined for each of the plurality of image segments in the first image and the corresponding image segments in the second image to calculate for each of a plurality of imaged regions at least one value indicative of a focus of expansion; identify a target object region, including at least a subset of the plurality of imaged regions that share a substantially similar focus of expansion; and cause a system response based on the identified target object region.
-
Citations
22 Claims
-
1. A navigation system for a vehicle, the system comprising:
-
at least one image capture device configured to acquire a plurality of images of an environment of a vehicle; a radar sensor to detect an object in the environment of the vehicle and to provide and output including range information indicative of at least one of a range or range rate between the vehicle and the object; and at least one processing device programmed to; receive the plurality of images from the at least one image capture device; receive the output from the radar sensor; determine, for each of a plurality of image segments in a first image, from among the plurality of images, and corresponding image segments in a second image, from among the plurality of images, an indicator of optical flow; determine a value indicative of an expected optical inflation associated with the object in the plurality of images based at least upon the range information from the output of the radar sensor; determine one or more areas of the second image where the value indicative of an expected optical inflation associated with the object substantially matches the indicator of optical flow; identify a target object region, including at least a subset of the determined one or more areas of the second image; and cause a system response based on the identified target object region. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
-
13. A vehicle comprising a navigation system, the navigation system comprising:
-
at least one image capture device configured to acquire a plurality of images of an environment of the vehicle; a radar sensor to detect an object in the environment of the vehicle and to provide and output including range information indicative of at least one of a range or range rate between the vehicle and the object; and at least one processing device programmed to; receive the plurality of images from the at least one image capture device; receive the output from the radar sensor; determine, for each of a plurality of image segments in a first image, from among the plurality of images, and corresponding image segments in a second image, from among the plurality of images, an indicator of optical flow; determine a value indicative of an expected optical inflation associated with the object in the plurality of images based at least upon the range information in the output of the radar sensor; determine one or more areas of the second image where the value indicative of an expected optical inflation associated with the object substantially matches the indicator of optical flow; identify a target object region, including at least a subset of the determined one or more areas of the second image; and cause a system response based on the identified target object region. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
-
-
21. A method for navigating a vehicle based on radar detection and visual image data, the method comprising:
-
acquiring a plurality of images of an environment of the vehicle; detecting an object in the environment of the vehicle using a radar sensor and providing an output of the radar sensor including range information indicative of at least one of a range or range rate between the object and the vehicle; receiving, at one or more processing devices, the plurality of images from the at least one image capture device and the output from the radar sensor; determining an indicator of optical flow, for each of a plurality of image segments in a first image, from among the plurality of images, and corresponding image segments in a second image, from among the plurality of images; identifying a target object region having a substantially common focus of expansion, based the range information provided by the radar sensor and the determined indicators of optical flow; and causing a system response based on the identified target object region.
-
-
22. A navigation system for a vehicle, the system comprising:
-
at least one image capture device configured to acquire a plurality of images of an environment of a vehicle; a radar sensor to detect an object in the environment of the vehicle and to provide and output including range information indicative of at least one of a range or range rate between the vehicle and the object; and at least one processing device programmed to; receive the plurality of images from the at least one image capture device; receive the output from the radar sensor; determine, for each of a plurality of image segments in a first image, from among the plurality of images, and corresponding image segments in a second image, from among the plurality of images, an indicator of optical flow; identify a target object region having a substantially common focus of expansion, based on the range information provided by the radar sensor and the determined indicators of optical flow; and cause a system response based on the identified target object region.
-
Specification