Wide baseline object detection stereo system
First Claim
Patent Images
1. A system that facilitates detecting an object in a surround-view image of a vehicle, comprising:
- a first camera that captures a first image of an object;
a second camera that captures a second image of the object;
a processor configured to;
generate a composite image by merging the first and second images;
analyze the composite image to detect one or more features indicative of the type of object in the composite image; and
generate a signal that indicates the presence of the object and location of the object relative to the vehicle; and
a ray calculation module configured to calculate at least one ray emanating from each camera through its field of view to a boundary of a more distant half, relative to each camera, of an area of disagreement D between the first and second images, wherein the calculated rays define an outline of the object;
wherein the processor is further configured to scan pixels defining the area of disagreement in order to determine where the calculated rays intersect, and identify a highest point of intersection as a highest point of the object;
wherein the processor is further configured to identify a V-shape formed in the composite image by the front and rear views of the object, and to confirm that the object is a one of cyclist or a pedestrian.
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Abstract
When detecting an object of interest, such as a bicyclist passing a truck, two downward looking cameras both capture images of the cyclist and detect the cyclist as a deviation from the flat ground plane. The ground plane is reconstructed using a homography (projection) matrix of each camera and compared. Where the camera images do not agree, the ground is not flat. The cyclist is located as the intersection of the rays extending to either end of the area of disagreement between the images.
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Citations
23 Claims
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1. A system that facilitates detecting an object in a surround-view image of a vehicle, comprising:
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a first camera that captures a first image of an object; a second camera that captures a second image of the object; a processor configured to; generate a composite image by merging the first and second images; analyze the composite image to detect one or more features indicative of the type of object in the composite image; and generate a signal that indicates the presence of the object and location of the object relative to the vehicle; and a ray calculation module configured to calculate at least one ray emanating from each camera through its field of view to a boundary of a more distant half, relative to each camera, of an area of disagreement D between the first and second images, wherein the calculated rays define an outline of the object; wherein the processor is further configured to scan pixels defining the area of disagreement in order to determine where the calculated rays intersect, and identify a highest point of intersection as a highest point of the object; wherein the processor is further configured to identify a V-shape formed in the composite image by the front and rear views of the object, and to confirm that the object is a one of cyclist or a pedestrian. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16)
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11. A method of detecting and tracking an object, comprising:
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capturing a first image, from a first vantage point, of an object; capturing a second image, from a second vantage point, of the object; generating a composite image by merging the first and second images; analyzing the composite image to detect one or more features in the composite image; generating a signal that indicates the presence of the object and location of the object relative to the vehicle; calculating at least one ray emanating from each camera through its field of view to a boundary of a more distant half, relative to each camera, of an area of disagreement D between the first and second images, wherein the calculated rays define an outline of the object; scanning pixels defining the area of disagreement, determining where the calculated rays intersect, and identifying a highest point of intersection as a highest point of the object; and identifying a V-shape formed in the composite image by the front and rear views of the object, and confirming that the object is a one of cyclist or a pedestrian.
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17. A processor configured to detect and track an object, wherein the processor comprises:
circuitry configured to; receive a first image, from a first vantage point, of an object; receive a second image, from a second vantage point, of the object; generate a composite image by merging the first and second images; analyze the composite image to detect one or more features indicative of the type of object in the composite image; generate a signal that indicates the presence of the object and location of the object relative to the vehicle; and calculate at least one ray emanating from each camera through its field of view to a boundary of a more distant half, relative to each camera, of an area of disagreement D between the first and second images, wherein the calculated rays define an outline of the object; wherein the circuitry is further configured to scan pixels defining the area of disagreement, determine where the calculated rays intersect, and identify a highest point of intersection as a highest point of the object; and identify a V-shape formed in the composite image by the front and rear views of the object, and confirm that the object is a one of cyclist or a pedestrian. - View Dependent Claims (18, 19, 20, 21, 22)
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23. An apparatus that facilitates detecting and tracking an object as it moves relative to a vehicle, comprising:
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means for capturing a first image, from a first vantage point, of an object; means for capturing a second image, from a second vantage point, of the object; means for generating a composite image by merging the first and second images; means for analyzing the composite image to detect one or more features indicative of the type of object in the composite image; means for generating a signal that indicates the presence of the object and location of the object relative to the vehicle; means for calculating at least one ray emanating from each camera through its field of view to a boundary of a more distant half, relative to each camera, of an area of disagreement D between the first and second images, wherein the calculated rays define an outline of the object; means for scanning pixels defining the area of disagreement, determining where the calculated rays intersect, and identifying a highest point of intersection as a highest point of the object; and means for identifying a V-shape formed in the composite image by the front and rear views of the object and confirming that the object is a one of cyclist or a pedestrian.
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Specification