Sensing system and method for detecting moving objects
First Claim
1. A sensing system for detecting moving objects in the surroundings of a vehicle, comprisingan imaging unit for acquiring images and generating an image stream consisting of a plurality of images;
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a control unit for controlling the behavior of the vehicle or for issuing a warning indication based on the first class information received from the computing unit.
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Abstract
The present invention presents a sensing system 1 and a corresponding method for detecting moving objects 11 in the surroundings of a vehicle 10. The sensing system 1 comprises an imaging unit 2 for obtaining an image stream 2a, a computing unit 3 for analyzing the image stream 2a, and a control unit 4 for controlling the vehicle 10 based on the analysis result of the computing unit 3. The sensing system 1 particularly employs a background-model-free estimation. The sensing system 1 is configured to perform a local analysis of two neighboring motion vectors 6, which are computed from points 7a in images 5a, 5b of the image stream 2a, and to determine, whether the points 7a corresponding to these motion vectors 6 belong to a particularly moving object.
8 Citations
10 Claims
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1. A sensing system for detecting moving objects in the surroundings of a vehicle, comprising
an imaging unit for acquiring images and generating an image stream consisting of a plurality of images; - and
a computing unit configured to receive the image stream from the imaging unit, select a plurality of points in a first image of the image stream, compute for each selected point in the first image a matching point in a second image of the image stream to obtain 2D motion vectors, compute a connectivity graph based on the selected points, wherein the connectivity graph represents local relations between the selected points, select a plurality of point pairs based on the connectivity graph, wherein each point pair represents two endpoints of an edge in the connectivity graph, compute for each selected point pair first transformation parameters by using the computed 2D motion vectors and 2D coordinates of the selected point pairs, group each selected point pair into a transformation class based on the computed first transformation parameters to obtain first class information; and a control unit for controlling the behavior of the vehicle or for issuing a warning indication based on the first class information received from the computing unit. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A sensing method for detecting moving objects in the surroundings of a vehicle, comprising the steps of:
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acquiring images and generating an image stream of a plurality of images; selecting a plurality of points in a first image of the image stream; computing for each selected point in the first image a matching point in a second image of the image stream to obtain 2D motion vectors; computing a connectivity graph based on the selected points, wherein the connectivity graph represents local relations between the selected points, selecting a plurality of point pairs based on the connectivity graph, wherein each point pair represents two endpoints of an edge in the connectivity graph; computing for each selected point pair first transformation parameters by using the computed 2D motion vectors and 2D coordinates of the selected point pairs; grouping each selected point pair into a transformation class based on the computed first transformation parameters to obtain first class information; and controlling the behavior of the vehicle or issuing a warning indication based on the first class information.
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9. A computer software program, embodied on a non-transitory computer readable medium, the computer program, when executed by a processor, causes the processor to:
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acquire images and generate an image stream of a plurality of images; select a plurality of points in a first image of the image stream; compute for each selected point in the first image a matching point in a second image of the image stream to obtain 2D motion vectors; compute a connectivity graph based on the selected points, wherein the connectivity graph represents local relations between the selected points, select a plurality of point pairs based on the connectivity graph, wherein each point pair represents two endpoints of an edge in the connectivity graph; compute for each selected point pair first transformation parameters by using the computed 2D motion vectors and 2D coordinates of the selected point pairs; group each selected point pair into a transformation class based on the computed first transformation parameters to obtain first class information; and control the behavior of the vehicle or issuing a warning indication based on the first class information.
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10. A land, sea or air vehicle provided with a sensing system for detecting moving objects in the surroundings of the vehicle, comprising:
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an imaging unit for acquiring images and generating an image stream consisting of a plurality of images; and a computing unit configured to receive the image stream from the imaging unit, select a plurality of points in a first image of the image stream, compute for each selected point in the first image a matching point in a second image of the image stream to obtain 2D motion vectors, compute a connectivity graph based on the selected points, wherein the connectivity graph represents local relations between the selected points, select a plurality of point pairs based on the connectivity graph, wherein each point pair represents two endpoints of an edge in the connectivity graph, compute for each selected point pair first transformation parameters by using the computed 2D motion vectors and 2D coordinates of the selected point pairs, group each selected point pair into a transformation class based on the computed first transformation parameters to obtain first class information; and a control unit for controlling the behavior of the vehicle or for issuing a warning indication based on the first class information received from the computing unit.
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Specification