Vision-based scene detection
First Claim
1. A method of distinguishing between daytime lighting conditions and nighttime lighting conditions based on a captured image by a vision-based imaging device along a path of travel, the method comprising:
- capturing an image by a vision-based imaging device;
selecting a region of interest in the captured image;
determining a light intensity value for each pixel within the region of interest;
generating a cumulative histogram based on light intensity values within the region of interest, the cumulative histogram including a plurality of category bins representing the light intensity values, each category bin identifying an aggregate value of light intensity values assigned to each respective category bin;
comparing an aggregate value within a predetermined category bin of the plurality of category bins to a first predetermined threshold; and
determining whether the image is captured during the daytime lighting conditions as a function of the aggregate value within the predetermined category bin,wherein determining whether the image is captured during the daytime lighting conditions is based on the aggregate value being less than a first predetermined threshold, andwherein determining whether the captured image is obtained during the daytime lighting conditions includes determining whether the captured image includes a daylight blocking structure over the path of travel.
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Accused Products
Abstract
A method of distinguishing between daytime lighting conditions and nighttime lighting conditions based on a captured image by a vision-based imaging device along a path of travel. An image is captured by a vision-based imaging device. A region of interest is selected in the captured image. A light intensity value is determined for each pixel within the region of interest. A cumulative histogram is generated based on light intensity values within the region of interest. The cumulative histogram including a plurality of category bins representing the light intensity values. Each category bin identifies an aggregate value of light intensity values assigned to each respective category bin. An aggregate value is compared within a predetermined category bin of the histogram to a first predetermined threshold. A determination is made whether the image is captured during the daytime lighting conditions as a function of the aggregate value within the predetermined category bin.
3 Citations
18 Claims
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1. A method of distinguishing between daytime lighting conditions and nighttime lighting conditions based on a captured image by a vision-based imaging device along a path of travel, the method comprising:
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capturing an image by a vision-based imaging device; selecting a region of interest in the captured image; determining a light intensity value for each pixel within the region of interest; generating a cumulative histogram based on light intensity values within the region of interest, the cumulative histogram including a plurality of category bins representing the light intensity values, each category bin identifying an aggregate value of light intensity values assigned to each respective category bin; comparing an aggregate value within a predetermined category bin of the plurality of category bins to a first predetermined threshold; and determining whether the image is captured during the daytime lighting conditions as a function of the aggregate value within the predetermined category bin, wherein determining whether the image is captured during the daytime lighting conditions is based on the aggregate value being less than a first predetermined threshold, and wherein determining whether the captured image is obtained during the daytime lighting conditions includes determining whether the captured image includes a daylight blocking structure over the path of travel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of distinguishing between daytime lighting conditions and nighttime lighting conditions based on a captured image by a vision-based imaging device along a path of travel, the method comprising:
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capturing an image by a vision-based imaging device; selecting a region of interest in the captured image; determining a light intensity value for each pixel within the region of interest; generating a cumulative histogram based on light intensity values within the region of interest, the cumulative histogram including a plurality of category bins representing the light intensity values, each category bin identifying an aggregate value of light intensity values assigned to each respective category bin; comparing an aggregate value within a predetermined category bin of the plurality of category bins to a first predetermined threshold; and determining whether the image is captured during the daytime lighting conditions as a function of the aggregate value within the predetermined category bin, wherein capturing an image by a vision-based imaging device includes capturing multiple images over a period of time, wherein the multiple images are cumulatively analyzed for detecting the daytime lighting conditions, and wherein the multiple images are used to determine a transitioning region in a road of travel between an unobstructed daylight portion of the road of travel and an obstructed daylight portion of the road of travel.
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14. A method of distinguishing between daytime lighting conditions and nighttime lighting conditions based on a captured image by a vision-based imaging device along a path of travel, the method comprising:
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capturing an image by a vision-based imaging device; selecting a region of interest in the captured image; determining a light intensity value for each pixel within the region of interest; generating a cumulative histogram based on light intensity values within the region of interest, the cumulative histogram including a plurality of category bins representing the light intensity values, each category bin identifying an aggregate value of light intensity values assigned to each respective category bin; comparing an aggregate value within a predetermined category bin of the plurality of category bins to a first predetermined threshold; and determining whether the image is captured during the daytime lighting conditions as a function of the aggregate value within the predetermined category bin, wherein a training phase is used to identify which of the respective category bins of the cumulative histogram are selected as the predetermined category bin and a second predetermined category bin, the training phase including; capturing a plurality of images of various lighting conditions; selecting a region of interest for each captured image; determining a light intensity value for each pixel within the region of interest for each captured image; generating a cumulative histogram for each image based on the light intensity values within the region of interest, each cumulative histogram including a plurality category bins representing the light intensity values, each category bin identified by a comparative factor that is derived as function of the light intensity values assigned to each respective category bin; identifying a first category bin from the plurality of histograms that distinguishes a daytime lighting condition from a nighttime lighting condition based on comparative factors, the first category bin being selected as the predetermined category bin; and identifying a second category bin from the plurality of histograms that distinguishes a daytime lighting condition having a daylight blocking structure from an unobstructed daytime lighting condition based on the comparative factors, the second category bin being selected as the second predetermined category bin. - View Dependent Claims (15, 16, 17, 18)
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Specification