Vehicle vision system with dirt detection
First Claim
1. A vision system for a vehicle, said vision system comprising:
- a first camera disposed at a vehicle equipped with said vision system, said first camera comprising an image sensor and a lens, wherein, when said first camera is disposed at the equipped vehicle, said lens is exposed to the environment exterior the equipped vehicle;
wherein said first camera has an exterior field of view exterior the equipped vehicle and is operable to capture image data representative of a scene occurring in the field of view of said first camera;
an image processor operable to process multiple frames of image data captured by said first camera;
wherein said image processor is operable to process captured image data to detect blobs in captured image data;
wherein, responsive to processing detected blob data over multiple frames of captured image data, said image processor determines if detected blobs are representative of contaminants at said lens of said first camera;
wherein, responsive to processing a first frame of captured image data, and responsive to said image processor determining a first threshold likelihood that a detected blob is indicative of a contaminant, said image processor adjusts processing of detected blob data when processing a subsequent frame of captured image data;
wherein, responsive to said image processor determining a second threshold likelihood that the detected blob is indicative of a contaminant when processing detected blob data of said subsequent frame of captured image data, said image processor determines that the detected blob is representative of a contaminant at said lens of said first camera;
wherein, responsive to said image processor determining that the detected blob is representative of a contaminant at said lens, said vision system generates an alert;
a second camera disposed at the equipped vehicle and having a field of view that at least partially overlaps the field of view of said first camera, wherein said second camera is operable to capture image data representative of a scene occurring in the field of view of said second camera; and
wherein said image processor is operable to process image data captured by said second camera, and wherein, responsive to processing of captured image data of the overlapping portion of the fields of view of said first camera and said second camera, said image processor is operable to determine the presence of a contaminant at said lens of said first camera.
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Abstract
A vision system for a vehicle includes a camera disposed at a vehicle and having an image sensor and a lens. When the camera is disposed at the vehicle, the lens is exposed to the environment exterior the vehicle. The camera has an exterior field of view exterior the vehicle and is operable to capture image data representative of a scene occurring in the field of view of the camera. An image processor is operable to process multiple frames of image data captured by the camera, and wherein, responsive to processing multiple frames of captured image data, the image processor is operable to detect contaminants, such as water droplets or dirt, at the lens of the camera. Responsive to the image processor detecting contaminants at the lens of the camera, the vision system generates an alert and may trigger a function.
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Citations
17 Claims
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1. A vision system for a vehicle, said vision system comprising:
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a first camera disposed at a vehicle equipped with said vision system, said first camera comprising an image sensor and a lens, wherein, when said first camera is disposed at the equipped vehicle, said lens is exposed to the environment exterior the equipped vehicle; wherein said first camera has an exterior field of view exterior the equipped vehicle and is operable to capture image data representative of a scene occurring in the field of view of said first camera; an image processor operable to process multiple frames of image data captured by said first camera; wherein said image processor is operable to process captured image data to detect blobs in captured image data; wherein, responsive to processing detected blob data over multiple frames of captured image data, said image processor determines if detected blobs are representative of contaminants at said lens of said first camera; wherein, responsive to processing a first frame of captured image data, and responsive to said image processor determining a first threshold likelihood that a detected blob is indicative of a contaminant, said image processor adjusts processing of detected blob data when processing a subsequent frame of captured image data; wherein, responsive to said image processor determining a second threshold likelihood that the detected blob is indicative of a contaminant when processing detected blob data of said subsequent frame of captured image data, said image processor determines that the detected blob is representative of a contaminant at said lens of said first camera; wherein, responsive to said image processor determining that the detected blob is representative of a contaminant at said lens, said vision system generates an alert; a second camera disposed at the equipped vehicle and having a field of view that at least partially overlaps the field of view of said first camera, wherein said second camera is operable to capture image data representative of a scene occurring in the field of view of said second camera; and wherein said image processor is operable to process image data captured by said second camera, and wherein, responsive to processing of captured image data of the overlapping portion of the fields of view of said first camera and said second camera, said image processor is operable to determine the presence of a contaminant at said lens of said first camera. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A vision system for a vehicle, said vision system comprising:
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a first camera disposed at a vehicle equipped with said vision system, said first camera comprising an image sensor and a lens, wherein, when said first camera is disposed at the equipped vehicle, said lens is exposed to the environment exterior the equipped vehicle; wherein said first camera has an exterior field of view exterior the equipped vehicle and is operable to capture image data representative of a scene occurring in the field of view of said first camera; an image processor operable to process multiple frames of image data captured by said first camera; wherein said image processor is operable to process captured image data to detect blobs in captured image data; wherein, responsive to processing detected blob data over multiple frames of captured image data, said image processor determines if detected blobs are representative of contaminants at said lens of said first camera; wherein, responsive to processing a first frame of captured image data, and responsive to said image processor determining a first threshold likelihood that a detected blob is indicative of a contaminant, said image processor adjusts processing of detected blob data when processing a subsequent frame of captured image data; wherein, responsive to said image processor determining a second threshold likelihood that the detected blob is indicative of a contaminant when processing detected blob data of said subsequent frame of captured image data, said image processor determines that the detected blob is representative of a contaminant at said lens of said first camera; wherein said first and second threshold likelihoods comprise preselected confidence parameters of said vision system; wherein said first frame of captured image data is processed via a first algorithm that classifies detected blobs as possible contaminants when said image processor determines the first threshold likelihood that the detected blob is indicative of a contaminant; wherein said subsequent frame of captured image data is processed via a second algorithm to determine if the possible contaminant is within a threshold likelihood of being a contaminant; wherein, responsive to said image processor determining that the detected blob is representative of a contaminant at said lens, said vision system generates an alert; a second camera disposed at the equipped vehicle and having a field of view that at least partially overlaps the field of view of said first camera, wherein said second camera is operable to capture image data representative of a scene occurring in the field of view of said second camera; and wherein said image processor is operable to process image data captured by said second camera, and wherein, responsive to processing of captured image data of the overlapping portion of the fields of view of said first camera and said second camera, said image processor is operable to determine the presence of a contaminant at said lens of said first camera. - View Dependent Claims (15)
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16. A vision system for a vehicle, said vision system comprising:
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a first camera disposed at a vehicle equipped with said vision system, said first camera comprising an image sensor and a lens, wherein, when said first camera is disposed at the equipped vehicle, said lens is exposed to the environment exterior the equipped vehicle; wherein said first camera has an exterior field of view exterior the equipped vehicle and is operable to capture image data representative of a scene occurring in the field of view of said first camera; an image processor operable to process multiple frames of image data captured by said first camera; wherein said image processor is operable to process captured image data to detect blobs in captured image data; wherein, responsive to processing detected blob data over multiple frames of captured image data, said image processor determines if detected blobs are representative of contaminants at said lens of said first camera; wherein, responsive to processing a first frame of captured image data, and responsive to said image processor determining a first threshold likelihood that a detected blob is indicative of a contaminant, said image processor adjusts processing of detected blob data when processing a subsequent frame of captured image data; wherein, responsive to said image processor determining a second threshold likelihood that the detected blob is indicative of a contaminant when processing detected blob data of said subsequent frame of captured image data, said image processor determines that the detected blob is representative of a contaminant at said lens of said first camera; wherein said first frame of captured image data is processed via a first algorithm that classifies detected blobs as possible contaminants when said image processor determines the first threshold likelihood that the detected blob is indicative of a contaminant; wherein said subsequent frame of captured image data is processed via a second algorithm to determine if the possible contaminant is within a threshold likelihood of being a contaminant; wherein said image processor is operable to detect contaminants comprising water drops and dirt at said lens of said first camera; wherein, responsive to said image processor determining that the detected blob is representative of a contaminant at said lens, said vision system generates an alert and triggers a function; a second camera disposed at the equipped vehicle and having a field of view that at least partially overlaps the field of view of said first camera, wherein said second camera is operable to capture image data representative of a scene occurring in the field of view of said second camera; and wherein said image processor is operable to process image data captured by said second camera, and wherein, responsive to processing of captured image data of the overlapping portion of the fields of view of said first camera and said second camera, said image processor is operable to determine the presence of a contaminant at said lens of said first camera. - View Dependent Claims (17)
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Specification