Machine vision based obstacle avoidance system
First Claim
Patent Images
1. A method to detect an obstacle in a field of view, comprising:
- performing a dynamic mask (DMA) operation to detect an obstacle that includes generating a dynamic mask and comparing a dynamic mask width with a predetermined value;
alternating between performing the DMA operation to performing a histogram intensity switching (HIS) operation in response to the dynamic mask width being greater than the predetermined value;
performing the HIS operation for a predetermined number of iterations;
performing the HIS operation and the DMA operation for one additional iteration each following the performance of the HIS operation for the predetermined number of iterations;
and performing an obstacle avoidance maneuver in response to the dynamic mask width being greater than the predetermined value.
2 Assignments
0 Petitions
Accused Products
Abstract
Machine vision based obstacle avoidance system is provided. The system utilizes a CCD camera to capture an image. A normalized image and dynamic masking is used in object detection.
18 Citations
20 Claims
-
1. A method to detect an obstacle in a field of view, comprising:
-
performing a dynamic mask (DMA) operation to detect an obstacle that includes generating a dynamic mask and comparing a dynamic mask width with a predetermined value; alternating between performing the DMA operation to performing a histogram intensity switching (HIS) operation in response to the dynamic mask width being greater than the predetermined value; performing the HIS operation for a predetermined number of iterations; performing the HIS operation and the DMA operation for one additional iteration each following the performance of the HIS operation for the predetermined number of iterations; and performing an obstacle avoidance maneuver in response to the dynamic mask width being greater than the predetermined value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. A mobile platform comprising:
-
a base structure; a drive mechanism coupled to the base structure; and a computing device comprising a memory and at least one processor, the at least one processor configured to; perform a dynamic mask (DMA) operation to detect an obstacle that includes generating a dynamic mask and comparing a dynamic mask width with a predetermined value, alternate between performing the DMA operation to performing a histogram intensity switching (HIS) operation in response to the dynamic mask width being greater than the predetermined value, perform the HIS operation for a predetermined number of iterations, perform the HIS operation and the DMA operation for one additional iteration each following the performance of the HIS operation for the predetermined number of iterations, and control the drive mechanism to perform an obstacle avoidance maneuver in response to the dynamic mask width being greater than the predetermined value. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19)
-
-
20. A non-transitory computer-readable medium storing executable instructions that, in response to being executed, cause a computer to perform operations comprising:
-
performing a dynamic mask (DMA) operation to detect an obstacle that includes generating a dynamic mask and comparing a dynamic mask width with a predetermined value; alternating between performing the DMA operation to performing a histogram intensity switching (HIS) operation in response to the dynamic mask width being greater than the predetermined value; performing the HIS operation for a predetermined number of iterations; performing the HIS operation and the DMA operation for one additional iteration each following the performance of the HIS operation for the predetermined number of iterations; and performing an obstacle avoidance maneuver in response to the dynamic mask width being greater than the predetermined value.
-
Specification