Object detection system and method

• US 7,720,260 B2
• Filed: 09/13/2006
• Issued: 05/18/2010
• Est. Priority Date: 09/13/2006
• Status: Active Grant

• Current Assignee: Ford Motor Company
• Original Assignee: Ford Motor Company
• Inventors: Macneille, Perry, Gomez-Levi, Gianna
• Primary Examiner(s): Tabatabai; Abolfazl
• Application Number:
  US11/531,404
• Publication Number:
  US 20080063239A1
• Time in Patent Office: 1,343 Days
• Field of Search: 382/103, 382/104, 382/106, 382/107, 382/203, 382/204, 382/152, 382/280, 382/286, 348/128, 348/131, 348/132, 348/135, 348169-172, 356/4.01, 356/28, 356/512, 356/520, 356/601, 356/604, 356/634, 356/603, 356/606, 356/610, 356/621, 356/622, 356/906, 340/906, 340/907, 340/910, 340/919, 340/931, 701/36, 701/45, 701/53, 701/117
• US Class Current: 382/103
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G06V 10/145 Illumination specially adapted for pattern recognition, e.g. using gratings
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 2201/08 Detecting or categorising vehicles
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element

Abstract

The embodiments described herein include an object detection system and method for identifying objects within an area. In one embodiment, the objection detection system may formulate an outline of a detected object and generate a three-dimensional shape or image of the object. Object information may be used to determine and communicate the position, range, and bearing of the object.

Claims

1. An object detection system for identifying an object within an area, the system comprising:

a pattern projector for projecting a light pattern on the area, wherein the light pattern is distorted and/or reflected by the object within the area;

an image capturing device that is communicative with the pattern projector, the image capturing device being configured to capture a first image of the light pattern that is distorted and/or reflected by the object; and

a processor being communicative with the image capturing device wherein the processor processes the image of the distorted and/or reflected light pattern, the processor configuring an outline of the object based on the processed image having the distorted and/or reflected light pattern, the processor including a memory having at least one object model, the processor being adapted to select a first object model based on the outline of the object to form a three-dimensional shape of the object.

2. The system of claim 1, wherein the pattern projector includes a grating light (GLV) for generating the light pattern.

3. The system of claim 1, wherein the light pattern includes a fan pattern having multiple pattern stripes.

4. The system of claim 3, wherein the processor determines an orientation of the object based on an orientation of the pattern stripes.

5. The system of claim 3, wherein the processor determines a range of the object based on the width of the pattern stripes.

6. The system of claim 1, further comprising a display that is coupled to the processor for displaying data relating to the processed image.

7. The system of claim 1, wherein the image capturing device subtracts a previous image captured absent the light pattern from the first image to remove noise from the first image.

8. The system of claim 1, wherein the pattern projector includes an infrared laser diode.

9. The system of claim 1, further comprising a vehicle having the pattern projector, the image capturing device, and the processor mounted thereon.

10. The system of claim 1, wherein the vehicle includes a global navigation system being communicative with the processor for determining at least one of a position, a speed, and a direction of the vehicle.

11. The system of claim 10, further comprising a transmitter coupled to the processor that transmits the position, speed and direction information and data relating to the processed image to at least one of a traveler information system and another vehicle.

12. A method for identifying an object within an area, the method comprising:

projecting a light pattern on the area, through the use of a pattern projector, wherein the light pattern is distorted and/or reflected by the object within the area;

capturing a first image of the light pattern that is distorted and/or reflected by the object through the use of an image capturing device that is communicative with the pattern projector;

processing the image of the distorted and/or reflected light pattern;

configuring an outline of the object based on the processed image; and

selecting a first object model from memory based on the outline of the object to form a three-dimensional shape of the object.

13. The method of claim 12, wherein the pattern projector includes a grating light (GLV) for generating the light pattern.

14. The method of claim 12, wherein the light pattern includes a fan pattern having multiple pattern stripes.

15. The method of claim 14, wherein the processor determines an orientation of the object based on an orientation of the pattern stripes.

16. The method of claim 14, wherein the processor determines a range of the object based on the width of the pattern stripes.

17. The method of claim 12, further comprising displaying data relating to the processed image via a display that is communicative with the processor.

18. The method of claim 12, further comprising:

subtracting a previous image captured absent the light pattern from the first image to remove noise from the first image.

19. The method of claim 12, further comprising:

mounting the pattern projector, the image capturing device, and the processor on a vehicle; and

determining at least one of a position, a speed, and a direction of the vehicle via a global navigation system connected to the vehicle.

20. The method of claim 19, further comprising:

transmitting the position, speed and direction information and data relating to the processed image to at least one of a traveler information system and another vehicle.