Camera-based precrash detection system
First Claim
1. A method for detecting road users and obstacles as a function of camera images so as to determine their distance from an observer and to classify them, comprising the steps of:
- identifying regions within a two-dimensional camera image that is not resolved with respect to distance using a classifier designed for detecting road users and obstacles;
marking and ranging, in a subsequent step, the identified regions using a distance-measuring sensor with respect to their distance from the observer; and
subsequently type classifying the identified regions using a type classifier.
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Abstract
A method and a device for detecting road users and obstacles on the basis of camera images, in order to determine their distance from the observer and to classify them. In a two-step classification, potential other parties involved in a collision are detected and identified. In so doing, in a first step, potential other parties involved in a collision are marked in the image data of a mono-image camera; their distance and relative velocity are subsequently determined so that endangering objects can be selectively subjected to a type classification in real time. By breaking down the detection activity into a plurality of steps, the real-time capability of the system is also rendered possible using conventional sensors already present in the vehicle.
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Citations
19 Claims
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1. A method for detecting road users and obstacles as a function of camera images so as to determine their distance from an observer and to classify them, comprising the steps of:
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identifying regions within a two-dimensional camera image that is not resolved with respect to distance using a classifier designed for detecting road users and obstacles;
marking and ranging, in a subsequent step, the identified regions using a distance-measuring sensor with respect to their distance from the observer; and
subsequently type classifying the identified regions using a type classifier. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A device for detecting road users and obstacles as a function of camera images to determine their distance from an observer, and to classify them, comprising:
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a distance-measuring sensor unit;
a mono-image camera coupled to the distance-measuring sensor unit;
a first classifying unit interposed between the sensor unit and the camera; and
a second classifying unit downstream from the sensor unit and the camera. - View Dependent Claims (17, 18, 19)
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Specification