System and method for generating a model of the path of a roadway from an image recorded by a camera
First Claim
Patent Images
1. Apparatus for monitoring motion of a vehicle relative to a road on which the vehicle is traveling, comprising:
- a camera that acquires an image of a scene in which the road is present; and
a controller thata) defines a plurality of real-space curves having different shapes and/or orientations that are candidates for substantially lying along a contour of the road;
b) for each candidate curve, for each of a plurality of lines of pixels in the image that image regions of the scene lying along the candidate curve or that image regions of the scene lying along a same curve homologous with and having a same orientation as the candidate curve, determines a value that is a function of gradients of pixel intensities at locations along the line;
c) determines a candidate curve that most closely lies along the road contour responsive to the values determined for the lines; and
d) uses the determined candidate curve to monitor motion of the vehicle relative to the road.
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Abstract
A road skeleton estimation system generates an estimate as to a skeleton of at least a portion of a roadway ahead of a vehicle. The road skeleton estimation system includes an image receiver and a processor. The image receiver is configured to receive image information relating to at least one image recorded ahead of the vehicle. The processor is configured to process the image information received by the image receiver to generate an estimate of the skeleton of at least a portion of the roadway ahead of the vehicle.
223 Citations
26 Claims
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1. Apparatus for monitoring motion of a vehicle relative to a road on which the vehicle is traveling, comprising:
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a camera that acquires an image of a scene in which the road is present; and a controller that a) defines a plurality of real-space curves having different shapes and/or orientations that are candidates for substantially lying along a contour of the road; b) for each candidate curve, for each of a plurality of lines of pixels in the image that image regions of the scene lying along the candidate curve or that image regions of the scene lying along a same curve homologous with and having a same orientation as the candidate curve, determines a value that is a function of gradients of pixel intensities at locations along the line; c) determines a candidate curve that most closely lies along the road contour responsive to the values determined for the lines; and d) uses the determined candidate curve to monitor motion of the vehicle relative to the road.
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2. A method for monitoring motion of a vehicle relative to a road on which the vehicle is traveling, the method comprising:
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acquiring a camera image of a scene in which the road is present; defining a plurality of real-space curves having different shapes and/or orientations that are candidates for substantially lying along a contour of the road; for each candidate curve, for each of a plurality of lines of pixels in the image that image regions of the scene lying along the candidate curve or that image regions of the scene lying along a same curve homologous with and having a same orientation as the candidate curve, determining a value that is a function of gradients of pixel intensities at locations along the line; and determining a candidate curve that most closely lies along the road contour responsive to the values determined for the lines; and using the determined candidate curve to monitor motion of the vehicle relative to the road. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification