BARRIER AND GUARDRAIL DETECTION USING A SINGLE CAMERA
First Claim
Patent Images
1. An image processing method, comprising:
- obtaining, via a camera located in a moving vehicle, a first image frame;
locating, in the first image frame, a first image patch comprising an image line intersecting a vanishing point in the first image frame;
obtaining, via the camera located in the moving vehicle, a second image frame;
locating, in the second image frame, a second image patch corresponding to the first image patch;
warping the first image patch based on a vertical surface model to provide a first warped image patch; and
identifying a match between the second image patch and the first warped image patch.
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Abstract
Driver assistance systems for detecting a structural barrier extending along a road. The driver assistance system may be mountable in a host vehicle. The camera may capture multiple image frames in the forward field of view of the camera. A processor may process motion of images of the barrier in the image frames. The camera may be a single camera. The motion of the images may be responsive to forward motion of the host vehicle and/or the motion of the images may be responsive to lateral motion of the host vehicle.
23 Citations
16 Claims
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1. An image processing method, comprising:
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obtaining, via a camera located in a moving vehicle, a first image frame; locating, in the first image frame, a first image patch comprising an image line intersecting a vanishing point in the first image frame; obtaining, via the camera located in the moving vehicle, a second image frame; locating, in the second image frame, a second image patch corresponding to the first image patch; warping the first image patch based on a vertical surface model to provide a first warped image patch; and identifying a match between the second image patch and the first warped image patch. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An image processing system, comprising:
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a camera configured to be placed in a moving vehicle and obtain a first image frame; and a processor operatively connected to the camera, the processor being operable to; locate, in the first image frame, a first image patch comprising an image line intersecting a vanishing point in the first image frame; obtain, via the camera located in the moving vehicle, a second image frame; locate, in the second image frame, a second image patch corresponding to the first image patch in the first image frame; warp the first image patch based on a vertical surface model to provide a first warped image patch; and identify a match between the second image patch and the first warped image patch. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification