ROAD VERTICAL CONTOUR DETECTION
First Claim
1. A computerized method for detecting a vertical deviation of a road surface, the method performed 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 plurality of consecutive image frames including a first image of the road and a second image of the road;
based on the host vehicle motion,warping the second image toward the first image to produce thereby a warped second image;
tracking image points of the road in the first image and corresponding image points of the road in the warped second image;
computing optical flow between the warped second image to the first image;
comparing the optical flow with an optical flow based on a planar or bi-quadratic road surface model of the road to produce thereby a residual optical flow; and
computing the vertical deviation of the road surface from said residual optical flow.
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Accused Products
Abstract
Various driver assistance systems mountable in a host vehicle and computerized methods for detecting a vertical deviation of a road surface. The driver assistance system includes a camera operatively connectible to a processor. Multiple consecutive image frames are captured from the camera including a first image of the road and a second image of the road. Based on the host vehicle motion, the second image is warped toward the first image to produce thereby a warped second image. Image points of the road in the first image and corresponding image points of the road in the warped second image are tracked. Optical flow is computed between the warped second image to the first image. The optical flow is compared with an optical flow based on a road surface model to produce a residual optical flow. The vertical deviation is computed from the residual optical flow.
15 Citations
17 Claims
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1. A computerized method for detecting a vertical deviation of a road surface, the method performed 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 plurality of consecutive image frames including a first image of the road and a second image of the road; based on the host vehicle motion,warping the second image toward the first image to produce thereby a warped second image; tracking image points of the road in the first image and corresponding image points of the road in the warped second image; computing optical flow between the warped second image to the first image; comparing the optical flow with an optical flow based on a planar or bi-quadratic road surface model of the road to produce thereby a residual optical flow; and computing the vertical deviation of the road surface from said residual optical flow. - 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 operates while the host vehicle is moving to detect a vertical deviation of a road surface, the driver assistance system configured to:
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capture from the camera a plurality of consecutive image frames including a first image of the road and a second image of the road; based on the host vehicle motion, warp the second image toward the first image to produce a warped second image; track image points of the road in the first image and corresponding image points of the road in the warped second image; estimate optical flow between the warped second image to the first image; compare the optical flow with an optical flow based on a planar or bi-quadratic surface model of the road to produce a residual optical flow; and compute the vertical deviation of the road surface from said residual optical flow. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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Specification