Vehicle detecting method and system
First Claim
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1. A vehicle detecting method, comprising:
- creating, by a controller, a disparity map using images photographed by a stereoscopic imaging device;
detecting, by the controller, a road area on the disparity map;
detecting, by the controller, a vehicle present in the road area in a shape of a stereoscopic object;
converting, by the controller, the disparity map into a top view image;
detecting, by the controller, a vehicle area having a rectangular shape in the top view image;
converting, by the controller, the top view image into a second disparity map; and
detecting, by the controller, a height of the vehicle area the second disparity map.
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Abstract
A vehicle detecting system and method are provided. The method includes creating, by a controller, a disparity map using images photographed by a stereoscopic imaging device and detecting a road area on the disparity map. In addition, the controller is configured to detect a vehicle present in the road area in a shape of a stereoscopic object.
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Citations
17 Claims
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1. A vehicle detecting method, comprising:
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creating, by a controller, a disparity map using images photographed by a stereoscopic imaging device; detecting, by the controller, a road area on the disparity map; detecting, by the controller, a vehicle present in the road area in a shape of a stereoscopic object; converting, by the controller, the disparity map into a top view image; detecting, by the controller, a vehicle area having a rectangular shape in the top view image; converting, by the controller, the top view image into a second disparity map; and detecting, by the controller, a height of the vehicle area the second disparity map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle detecting system, comprising:
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a memory configured to store program instructions; and a processor configured to execute the program instructions, wherein the program instructions when executed cause the processor to; create a disparity map using images photographed by a stereoscopic imaging device; detect a road area on the disparity map; detect a vehicle present in the road area in a shape of a stereoscopic object; convert the disparity map into a top view image; detect a vehicle area having a rectangular shape in the top view image; convert the top view image into a second disparity map; and convert a height of the vehicle area using the second disparity map. - View Dependent Claims (10, 11, 12, 13)
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14. A non-transitory computer readable medium containing program instructions executed by a controller, the computer readable medium comprising:
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program instructions that create a disparity map using images photographed by a stereoscopic imaging device; program instructions that detect a road area on the disparity map; program instructions that detect a vehicle present in the road area in a shape of a stereoscopic object; program instruction that converts the disparity map into a top view image; program instruction that detects a vehicle area having a rectangular shape in the top view image; program instructions that convert the top view image into a second disparity map; and program instructions that convert a height of the vehicle area using the second disparity map. - View Dependent Claims (15, 16, 17)
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Specification