Vehicle obstacle detection system
First Claim
Patent Images
1. A computer-implemented method of detecting objects in a path of a vehicle comprising:
- obtaining an image frame that depicts the path of the vehicle;
generating an edge-image corresponding to the image frame;
generating a binary image corresponding to the edge-image;
identifying one or more blobs containing one or more components in the binary image that respectively correspond to one or more objects in the image frame;
determining a contour for a component from among the one or more components such that a size of the contour corresponds to a total pixel area of the component; and
determining that an object, corresponding to the component in the image frame, is an obstacle in the path of the vehicle based on at least an edge of the determined contour projecting towards a focus of the image frame.
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Abstract
A computer-implemented method of detecting objects in a path of a vehicle is provided. An image frame that depicts the path of the vehicle is obtained. An edge-image corresponding to the image frame is generated. A binary image corresponding to the edge-image is also generated. One or more blobs in the binary image that respectively correspond to one or more objects in the image frame are identified. Based on an analysis of the blobs in the binary image, a determination is made that one of the objects in the image frame is an obstacle in the path of the vehicle.
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Citations
20 Claims
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1. A computer-implemented method of detecting objects in a path of a vehicle comprising:
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obtaining an image frame that depicts the path of the vehicle; generating an edge-image corresponding to the image frame; generating a binary image corresponding to the edge-image; identifying one or more blobs containing one or more components in the binary image that respectively correspond to one or more objects in the image frame; determining a contour for a component from among the one or more components such that a size of the contour corresponds to a total pixel area of the component; and determining that an object, corresponding to the component in the image frame, is an obstacle in the path of the vehicle based on at least an edge of the determined contour projecting towards a focus of the image frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for detecting objects in a path of a vehicle comprising:
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an image segmentation module configured to generate an edge-image corresponding to an image frame, the image frame depicts the path of the vehicle; a binary image creation module configured to generate a binary image corresponding to the edge-image; a blob analysis module configured to identify a component corresponding to one or more blobs in the binary image, the component further corresponds to an object in the image frame; the blob analysis module further configured to determine an ellipse enclosing the identified component; and an obstacle verification module configured to classify the object corresponding to the identified component as in the image frame an obstacle in the path of the vehicle based on a prolongation of the ellipse passing through a predetermined area around a focus of the image frame. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory computer readable storage medium comprising instructions executed by a processor, the computer readable storage medium comprising:
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instructions to receive an image frame of a path of a vehicle; instructions to identify a component in a binary image corresponding to one or more blobs detected in the binary image, where the binary image corresponds to the image frame, and the component corresponds to an object in the image frame; instructions to determine a focus of the image frame; instructions to classify the object as an obstacle in the path of the vehicle in response to at least an elongated edge of the identified component passing through a predetermined area around the focus. - View Dependent Claims (20)
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Specification