System and method for detecting obstacles using a single camera
First Claim
1. An obstacle detection method comprising:
- obtaining a first image captured by a camera at a first time point;
generating a first transformed image based on the first image;
identifying a vertical edge candidate in the first transformed image, and measuring a first length of the vertical edge candidate based on the first transformed image;
obtaining a second image captured by the camera at a second time point;
generating a second transformed image based on the second image;
measuring a second length of the vertical edge candidate based on the second transformed image;
measuring an angular deviation between the vertical edge candidate and a focal line in the first transformed image or the second transformed image;
comparing the measured angular deviation with a predetermined angular deviation threshold to filter out a false vertical edge candidate;
calculating a difference between the first length and the second length; and
comparing the difference with a predetermined length difference threshold, if the difference is greater than the predetermined length difference threshold, outputting a message that an obstacle is found;
wherein the vertical edge candidate comprises a straight line segment in the first and second transformed images.
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Abstract
The present application provides an obstacle detection system and method thereof. The obstacle detection method comprises: obtaining a first image captured by a camera at a first time point; identifying a vertical edge candidate in the first image, and measuring a first length of the vertical edge candidate based on the first image; obtaining a second image captured by the camera at a second time point; measuring a second length of the vertical edge candidate based on the second image; calculating a difference between the first length and the second length; and comparing the difference with a predetermined length difference threshold, if the difference is greater than the length difference threshold, outputting a message that an obstacle is found.
12 Citations
20 Claims
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1. An obstacle detection method comprising:
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obtaining a first image captured by a camera at a first time point; generating a first transformed image based on the first image; identifying a vertical edge candidate in the first transformed image, and measuring a first length of the vertical edge candidate based on the first transformed image; obtaining a second image captured by the camera at a second time point; generating a second transformed image based on the second image; measuring a second length of the vertical edge candidate based on the second transformed image; measuring an angular deviation between the vertical edge candidate and a focal line in the first transformed image or the second transformed image; comparing the measured angular deviation with a predetermined angular deviation threshold to filter out a false vertical edge candidate; calculating a difference between the first length and the second length; and comparing the difference with a predetermined length difference threshold, if the difference is greater than the predetermined length difference threshold, outputting a message that an obstacle is found; wherein the vertical edge candidate comprises a straight line segment in the first and second transformed images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An obstacle detection system comprising:
a processing device configured to; obtain a first image captured by a camera at a first time point; generate a first top view image based on the first image; identify a vertical edge candidate based on the first top view image, and measure a first length of the vertical edge candidate based on the first top view image; obtain a second image captured by the camera at a second time point; generate a second top view image based on the second image; measure a second length of the vertical edge candidate based on the second top view image; measure an angular deviation between the vertical edge candidate and a focal line in the first top view image or the second top view image; compare the measured angular deviation with a predetermined angular deviation threshold to filter out a false vertical edge candidate; calculate a difference between the first length and the second length; and compare the difference with a predetermined length difference threshold, if the difference is greater than the predetermined length difference threshold, instruct an output device to output a message that an obstacle is found; wherein the vertical edge candidate comprises a straight line segment in the first and second top view images. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
Specification