Obstacle detection system and method therefor
First Claim
1. An obstacle detection system comprising:
- a plurality of TV cameras for inputting multiple images;
an image storage unit for storing a plurality of images inputted from said TV cameras;
a feature extraction unit for extracting from the images, lines existing on a plane in a three-dimensional space;
a parameter computation unit for determining a relation to hold between the projected positions of an arbitrary point on said plane, upon the individual of said stored images, from the lines extracted by said feature extraction unit;
a detection unit for detecting a region absent from said plane, by using the relation computed by said parameter computation unit; and
said parameter computation unit configured to predetermine said relation in a still state, and to determine an undated relation upon an elapsed time based on the relation in a still state and a movement in said plane during the elapsed time of at least one line extracted by said feature extracting unit.
2 Assignments
0 Petitions
Accused Products
Abstract
An obstacle detection system using stereo cameras mounted on a vehicle, to detect an obstacle existing on a ground plane at a high speed and in a high precision even with the stereo cameras being uncalibrated and with a vibration during a traveling and a change in the inclination of the ground plane. The obstacle detection system comprises: a plurality of uncalibrated TV cameras for inputting stereo images; an image storage unit 2 for storing a plurality of images inputted from the TV cameras; a feature extraction unit 3 for extracting a plurality of mutually parallel lines existing on the ground plane; a parameter computation unit 4 for determining a relation to hold between the projected positions of an arbitrary point of the ground plane upon the individual images, from the plurality of lines extracted by the feature extraction unit 3; and a detection unit 5 for detecting an object having a height from the ground plane, by using the relation determined by the parameter computation unit 4.
100 Citations
14 Claims
-
1. An obstacle detection system comprising:
-
a plurality of TV cameras for inputting multiple images; an image storage unit for storing a plurality of images inputted from said TV cameras; a feature extraction unit for extracting from the images, lines existing on a plane in a three-dimensional space; a parameter computation unit for determining a relation to hold between the projected positions of an arbitrary point on said plane, upon the individual of said stored images, from the lines extracted by said feature extraction unit; a detection unit for detecting a region absent from said plane, by using the relation computed by said parameter computation unit; and said parameter computation unit configured to predetermine said relation in a still state, and to determine an undated relation upon an elapsed time based on the relation in a still state and a movement in said plane during the elapsed time of at least one line extracted by said feature extracting unit. - View Dependent Claims (2, 3, 4, 5, 11, 12)
-
-
6. An obstacle detection method comprising:
-
an image storage step of storing a plurality of images inputted from a plurality of TV cameras; a feature extraction step of extracting from the images, a line existing in a plane of three-dimensional space; a parameter computation step of determining a relation to hold between the projected positions of an arbitrary point in said plane upon individual of said stored images, from the line extracted at said feature extraction step; a detection step of detecting a region absent from said plane, by using the relation computed at said parameter computation step; and said parameter computation step predetermines said relation in a still state, and determines an updated relation upon an elapsed time based on the relation in a still state and a movement of at least one line extracted in said feature extracting step, existing in said plane during the elapsed time. - View Dependent Claims (7, 8, 9, 10, 13, 14)
-
Specification