DENSE STRUCTURE FROM MOTION
First Claim
1. A method for determining three-dimensional structure in a road environment, the method performed by a system mountable in a host vehicle, wherein the system includes a camera operatively connectible to a processor, the method comprising:
- capturing a plurality of image frames in the field of view of the camera;
in the image frames selecting a line below which the road is imaged, wherein the line separates between upper images essentially excluding images of the road and lower images essentially including images of the road; and
warping at least one of the lower images according to a road homography to produce at least one warped lower image.
2 Assignments
0 Petitions
Accused Products
Abstract
Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectible to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, a line is selected below which the road is imaged. The line separates between upper images essentially excluding images of the road and lower images essentially including images of the road. One or more of the lower images is warped, according to a road homography to produce at least one warped lower image. The three-dimensional structure may be provided from motion of a matching feature within the upper images or from motion of a matching feature within at least one of the lower images and at least one warped lower image.
-
Citations
15 Claims
-
1. A method for determining three-dimensional structure in a road environment, the method performed by a system mountable in a host vehicle, wherein the system includes a camera operatively connectible to a processor, the method comprising:
-
capturing a plurality of image frames in the field of view of the camera; in the image frames selecting a line below which the road is imaged, wherein the line separates between upper images essentially excluding images of the road and lower images essentially including images of the road; and warping at least one of the lower images according to a road homography to produce at least one warped lower image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A system for determining three-dimensional structure in a road environment, the system mountable in a host vehicle, including a camera operatively connectible to a processor, the system operable to:
-
capture a plurality of image frames in the field of view of the camera; in the image frames, select a line below which the road is imaged, wherein the line separates between upper images essentially excluding images of the road and lower images essentially including images of the road; and warp at least one of the lower images according to a road homography to produce at least one warped lower image. - View Dependent Claims (13, 14, 15)
-
Specification