System and method for defining a search window

• US 8,520,952 B2
• Filed: 07/07/2010
• Issued: 08/27/2013
• Est. Priority Date: 07/08/2009
• Status: Expired due to Fees

• Current Assignee: Valeo Vision (Valeo SE)
• Original Assignee: Valeo Vision (Valeo SE)
• Inventors: Hue, David, Ahiad, Samia, Bensrhair, Abdelaziz
• Primary Examiner(s): Ahmed, Samir
• Assistant Examiner(s): Harandi, Siamak
• Application Number:
  US12/831,532
• Publication Number:
  US 20110019922A1
• Time in Patent Office: 1,147 Days
• Field of Search: None
• US Class Current: 382/199
• CPC Class Codes: G06T 2207/20132 Image cropping
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A system and method for defining a window to search a region of interest for processing a road image, the search window having a longitudinal orientation directed according to the height of the image and being laterally delimited by two edges. The shape of the search window is adapted to the road configuration by defining at least one non-vertical portion on one of the edges. A preferred application is the processing of road images for determining visibility distances in foggy weather.

Claims

1. A method for defining a search window to search a region of interest for processing a road image, said search window having a longitudinal orientation directed according to the height of said road image and being laterally delimited by two edges, wherein said method comprises the steps of:

adapting a shape of said search window to the road configuration by defining at least one non-vertical portion on at least one of said two edges; and

positioning said at least one non-vertical portion such that it is situated at least partially in a transitional area of said road image between a road carriageway and the sky.

2. The method according to claim 1, wherein at least two areas are defined in the search window with:

a bottom area laterally delimited by a low vertical portion of each of said two edges;

a second area situated at the top of said bottom area and laterally delimited by said at least one non-vertical portion of each of said two edges.

3. The method according to claim 2, wherein said two edges comprise a low vertical portion below said at least one non-vertical portion.

4. The method according to claim 2, wherein at least one non-vertical portion is defined on the other of said two edges.

5. The method according to claim 1, wherein said two edges comprise a low vertical portion below said at least one non-vertical portion.

6. The method according to claim 5, wherein said at least one non-vertical portion is selected from among:

a horizontal right segment, a right-sloping segment, a curvilinear line portion.

7. The method according to claim 1, wherein said at least one non-vertical portion is selected from among:

a horizontal right segment, a right-sloping segment, a curvilinear line portion.

8. The method according to claim 1, wherein said at least one non-vertical portion is defined on the other of said two edges.

9. The method according to claim 8, wherein three areas are defined in the search window with:

a bottom area laterally delimited by a low vertical portion of each of said two edges;

a second area situated at the top of said bottom area and laterally delimited by said at least one non-vertical portion of each of said two edges.

10. The method according to claim 9, wherein the position of a vanishing point PF of a road carriageway is defined and said bottom area is laterally positioned according to said position of said vanishing point PF.

11. The method according to claim 10, wherein said bottom area is laterally centered on said vanishing point PF.

12. The method according to claim 10, wherein said position of said vanishing point PF is obtained by means of a device for detecting the crossing of a white line.

13. The method according to claim 12, wherein said bottom area is laterally centered on said vanishing point PF.

23. A method for determining a visibility distance in foggy weather, wherein a region of interest is determined within a search window defined by implementing the method according to any one of the preceding claims, wherein the method comprises the following steps:

adapting a shape of said search window to the road configuration by defining at least one non-vertical portion on at least one edge of an image; and

positioning said at least one non-vertical portion such that it is situated at least partially in a transitional area of said image between a road carriageway and the sky;

wherein an average luminance level is determined for a plurality of lines in this region of interest, a luminance profile is deduced therefrom, an inflection point is identified on this luminance profile and a visibility distance is deduced from said inflection point.

14. A method for defining a search window to search a region of interest for processing a road image, said search window having a longitudinal orientation directed according to the height of said road image and being laterally delimited by two edges, wherein said method comprises the steps of:

adapting a shape of said search window to the road configuration by defining at least one non-vertical portion on at least one of said two edges; and

positioning said at least one non-vertical portion such that it is situated at least partially in a transitional area of said road image between a road carriageway and the sky;

wherein at least one non-vertical portion is defined on the other of said two edges; and

wherein said at least one non-vertical portion of said two edges is parallel.

15. The method according to claim 14, wherein three areas are defined in said search window with:

a bottom area laterally delimited by a low vertical portion of each of said two edges;

a second area situated at the top of said bottom area and laterally delimited by said at least one non-vertical portion of each of said two edges.

16. A method for defining a search window to search a region of interest for processing a road image, said search window having a longitudinal orientation directed according to the height of said road image and being laterally delimited by two edges, wherein said method comprises the steps of:

adapting a shape of said search window to the road configuration by defining at least one non-vertical portion on at least one of said two edges; and

positioning said at least one non-vertical portion such that it is situated at least partially in a transitional area of said road image between a road carriageway and the sky;

wherein at least one non-vertical portion is defined on the other of said two edges; and

;

wherein three areas are defined in said search window with;

a bottom area laterally delimited by a low vertical portion of each of said two edges;

a second area situated at the too of said bottom area and laterally delimited by said at least one non-vertical portion of each of said two edges;

wherein a third area laterally delimited by a high vertical portion of each one of said two edges is defined, said second area connecting said bottom area and said third area.

17. The method according to claim 16, wherein the position of a vanishing point PF of a road carriageway is defined and said bottom area is laterally positioned according to said position of said vanishing point PF.

18. The method according to claim 16, wherein a third area laterally delimited by a high vertical portion of each of said two edges is defined, said second area connecting said bottom area and said third area and said third area with a lateral offset is positioned relatively to said bottom area, said lateral offset depending on curvature data of a bend of said road carriageway.

19. The method according to claim 16, wherein the position of at least one point of a horizon line of said road image is defined and said second area is vertically centered on a point of the horizon line.

20. A method for defining a search window to search a region of interest for processing a road image, said search window having a longitudinal orientation directed according to the height of said road image and being laterally delimited by two edges, wherein said method comprises the steps of:

adapting a shape of the search window to the road configuration by defining at least one non-vertical portion on at least one of said two edges; and

positioning said at least one non-vertical portion such that it is situated at least partially in a transitional area of said road image between a road carriageway and the sky;

wherein at least one non-vertical portion is defined on the other of said two edges; and

;

wherein three areas are defined in the search window with;

a bottom area laterally delimited by a low vertical portion of each of said two edges;

a second area situated at the too of said bottom area and laterally delimited by said at least one non-vertical portion of each of said two edges;

wherein the position of a vanishing point PF of a road carriageway is defined and said bottom area is laterally positioned according to said position of said vanishing point PF;

wherein the non-vertical edges of said second area are moved and/or deformed according to the direction of the bend, said vanishing PF being inside said second area.

21. A method for defining a search window to search a region of interest for processing a road image, said search window having a longitudinal orientation directed according to the height of said road image and being laterally delimited by two edges, wherein said method comprises the steps of:

adapting a shape of said search window to the road configuration by defining at least one non-vertical portion on at least one of said two edges; and

positioning said at least one non-vertical portion such that it is situated at least partially in a transitional area of said road image between a road carriageway and the sky;

wherein at least one non-vertical portion is defined on the other of said two edges; and

;

wherein three areas are defined in said search window with;

a bottom area laterally delimited by a low vertical portion of each of said two edges;

a second area situated at the too of said bottom area and laterally delimited by said at least one non-vertical portion of each of said two edges;

wherein a third area laterally delimited by a high vertical portion of each of said two edges is defined, said second area connecting said bottom area and said third area and said third area with a lateral offset is positioned relatively to said bottom area, said lateral offset depending on curvature data of a bend of said road carriageway.

22. A method for defining a search window to search a region of interest for processing a road image, said search window having a longitudinal orientation directed according to the height of said road image and being laterally delimited by two edges, wherein said method comprises the steps of:

adapting a shape of said search window to the road configuration by defining at least one non-vertical portion on at least one of said two edges; and

positioning said at least one non-vertical portion such that it is situated at least partially in a transitional area of said road image between a road carriageway and the sky;

wherein at least one non-vertical portion is defined on the other of said two edges; and

;

wherein three areas are defined in said search window with;

a bottom area laterally delimited by a low vertical portion of each of said two edges;

a second area situated at the too of said bottom area and laterally delimited by said at least one non-vertical portion of each of said two edges;

wherein the position of at least one point of a horizon line of said road image is defined and said second area is vertically centered on a point of the horizon line.

24. A system for determining a window to search a region of interest in an image, wherein it comprises a device for acquiring an image and a processor adapted for processing arranged to implement the steps of:

adapting a shape of said search window to the road configuration by defining at least one non-vertical portion on at least one of the edges; and

positioning said at least one non-vertical portion such that it is situated at least partially in a transitional area of said image between a road carriageway and the sky.

25. The system according to claim 24, comprising a device for detecting the crossing of white lines, configured to produce data for defining a position of a vanishing point and for transmitting said data to said processor.

26. A method for defining a search window to search a region of interest for processing a road image, said search window having a longitudinal orientation directed according to the height of said road image and being laterally delimited by two edges, wherein said method comprises the steps of:

adapting a shape of said search window to the road configuration by defining at least one non-vertical portion on at least one of said two edges; and

positioning said at least one non-vertical portion such that it is situated at least partially in a transitional area of said road image between a road carriageway and the sky;

wherein at least one non-vertical portion is defined on the other of said two edges; and

;

wherein three areas are defined in said search window with;

a bottom area laterally delimited by a low vertical portion of each of said two edges;

a second area situated at the too of said bottom area and laterally delimited by said at least one non-vertical portion of each of said two edges;

wherein the position of a vanishing point PF of a road carriageway is defined and said bottom area is laterally positioned according to said position of said vanishing point PF;

wherein said position of said vanishing point PF is obtained by means of a device for detecting the crossing of a white line;

wherein the non-vertical edges of said second area are moved and/or deformed according to the direction of the bend, said vanishing PF being inside said second area.

27. A method for defining a search window to search a region of interest for processing a road image, said search window having a longitudinal orientation directed according to the height of said road image and being laterally delimited by two edges, wherein said method comprises the steps of:

adapting a shape of said search window to the road configuration by defining at least one non-vertical portion on at least one of said two edges; and

positioning said at least one non-vertical portion such that it is situated at least partially in a transitional area of said road image between a road carriageway and the sky;

wherein at least one non-vertical portion is defined on the other of said two edges; and

;

wherein three areas are defined in said search window with;

a bottom area laterally delimited by a low vertical portion of each of said two edges;

a second area situated at the too of said bottom area and laterally delimited by said at least one non-vertical portion of each of said two edges;

wherein the position of a vanishing point PF of a road carriageway is defined and said bottom area is laterally positioned according to said position of said vanishing point PF;

wherein said bottom area is laterally centered on said vanishing point PF;

wherein the non-vertical edges of said second area are moved and/or deformed according to the direction of the bend, said vanishing PF being inside said second area.

28. A system for improving a driver'"'"'s ability to navigate a road vehicle, said system comprising:

an image system for capturing a road image;

a processor configured to execute a sequence of instructions for defining a search window to search a region of interest for processing a road image, said search window having a longitudinal orientation directed according to the height of said road image and being laterally delimited by two edges;

said processor adapting a shape of said search window to the road configuration by defining at least one non-vertical portion on at least one of said two edges and in that said at least one non-vertical portion is positioned such that it is situated at least partially in a transitional area of said road image between a road carriageway and the sky.

29. The system according to claim 28, wherein at least two areas are defined in said search window with:

a bottom area laterally delimited by a low vertical portion of each of said two edges;

a second area situated at the top of said bottom area and laterally delimited by said at least one non-vertical portion of each of said two edges.

30. The system according to claim 28, wherein said two edges comprise a low vertical portion below said at least one non-vertical portion.

31. The system according to claim 28, wherein said at least one non-vertical portion is selected from among:

a horizontal right segment, a right-sloping segment, a curvilinear line portion.

32. The system according to claim 28, wherein said at least one non-vertical portion is defined on the other of said two edges.

33. A system for improving a driver'"'"'s ability to navigate a road vehicle, said system comprising:

an image system for capturing a road image;

a processor executing one or more sequence of instructions adapted to define a search window to search a region of interest for processing said road image, said search window having a longitudinal orientation directed according to the height of said road image and being laterally delimited by two edges;

said processor adapting a shape of said search window to the road configuration by defining at least one non-vertical portion on at least one of said two edges and in that said at least one non-vertical portion is positioned such that it is situated at least partially in a transitional area of said road image between a road carriageway and the sky.

34. The system according to claim 33, wherein at least two areas are defined in said search window with:

a bottom area laterally delimited by a low vertical portion of each of said two edges;

a second area situated at the top of said bottom area and laterally delimited by said at least one non-vertical portion of each of said two edges.

35. The system according to claim 33, wherein said two edges comprise a low vertical portion below said at least one non-vertical portion.

36. The system according to claim 33, wherein said at least one non-vertical portion is selected from among:

a horizontal right segment, a right-sloping segment, a curvilinear line portion.

37. The system according to claim 33, wherein said at least one non-vertical portion is defined on the other of said two edges.