PARTIALLY OCCLUDED OBJECT DETECTION USING CONTEXT AND DEPTH ORDERING
First Claim
1. A method for verifying detection of a first object partially occluded by a second object relative to a vehicle, the method comprising:
- receiving image information via an image input device;
determining a first detection window bounding a first image in the image information corresponding to the first object;
determining a second detection window bounding a second image in the image information corresponding to the second object;
determining whether the first window and the second window overlap;
determining a first distance to the first detection window and a second distance to the second detection window;
comparing the first distance to the second distance, andif the first distance is greater than the second distance, verifying that the first object is partially occluded by the second object.
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Accused Products
Abstract
A system and method for verifying detection of partially occluded objects (e.g., pedestrians) in the vicinity of a vehicle. An image input device captures an image and/or video of surroundings. An object detector detects partially occluded pedestrians and other objects in received image information. The detection of a partially occluded pedestrian is verified when a detection window of the partially occluded pedestrian overlaps with a detection window of an occluding object, and the occluding object window is closer to the image input device than the partially occluded object window. Optionally, a range-finding sensor, such as a LIDAR device, determines a range to objects located in the direction of the partially occluded object. The detection of the partially occluded object is verified when the range of one of the other objects located in the direction of the partially occluded object is less than that of the partially occluded object.
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Citations
20 Claims
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1. A method for verifying detection of a first object partially occluded by a second object relative to a vehicle, the method comprising:
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receiving image information via an image input device; determining a first detection window bounding a first image in the image information corresponding to the first object; determining a second detection window bounding a second image in the image information corresponding to the second object; determining whether the first window and the second window overlap; determining a first distance to the first detection window and a second distance to the second detection window; comparing the first distance to the second distance, and if the first distance is greater than the second distance, verifying that the first object is partially occluded by the second object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for verifying detection of a first object partially occluded by a second object relative to a vehicle, the method comprising:
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receiving image information via an image input device; determining a first detection window bounding a first image in the image information corresponding to the first object; determining a second detection window bounding a second image in the image information corresponding to the second object; determining whether the first window and the second window overlap; determining a first distance to the first detection window; receiving an input from a depth sensor, the depth sensor input corresponding to a measured distance between the depth sensor and the second object; comparing the first distance to the measured distance; and if the first distance is greater than the measured distance, verifying that the first object is partially occluded by the second object.
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11. A system for verifying detection of a first object partially occluded by a second object relative to a vehicle, the system comprising:
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an image input device for receiving image information; an object detector to determine a first detection window bounding a first image in the image information corresponding to the first object, and a second detection window bounding a second image in the image information corresponding to the second object; and a processor operatively connected for computer communication to the image input device and the object detector, the processor being configured to; determine whether the first detection window and the second detection window overlap; if the first and second detection windows overlap, determine a first distance to the first object and determine a second distance to the second object; and if the first distance is greater than the second distance, verify that the first object is partially occluded. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification