Hazard detection from a camera in a scene with moving shadows
First Claim
1. A method of processing images captured by a camera mountable in a host vehicle while the vehicle is moving, the method comprising:
- capturing a first image frame and a second image frame from a field of view of the camera;
tracking corresponding image points from the first image frame and the second image frame;
detecting a plurality of corresponding suspect hazard image points, from among the tracked image points, based on a comparison of the first image frame to the second image frame;
representing a hypothetical static object corresponding to the suspect hazard image points;
comparing a change in a position of a bottom edge of the hypothetical static object in the first image frame and the second image frame relative to a change in a position of an image point of a road plane in the first image frame and the second image frame; and
determining that the suspect hazard image points correspond to an actual static object corresponding to the hypothetical static object if the change in the position of the bottom edge of the hypothetical static object is attributable to the change in the position of the image point of the road plane.
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Accused Products
Abstract
Computerized methods are performable by a driver assistance system while the host vehicle is moving. The driver assistance system includes a camera connectible to a processor. First and second image frames are captured from the field of view of the camera. Corresponding image points of the road are tracked from the first image frame to the second image frame. Image motion between the corresponding image points of the road is processed to detect a hazard in the road. The corresponding image points are determined to be of a moving shadow cast on the road to avoid a false positive detection of a hazard in the road or the corresponding image points are determined not to be of a moving shadow cast on the road to verify detection of a hazard in the road.
14 Citations
20 Claims
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1. A method of processing images captured by a camera mountable in a host vehicle while the vehicle is moving, the method comprising:
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capturing a first image frame and a second image frame from a field of view of the camera; tracking corresponding image points from the first image frame and the second image frame; detecting a plurality of corresponding suspect hazard image points, from among the tracked image points, based on a comparison of the first image frame to the second image frame; representing a hypothetical static object corresponding to the suspect hazard image points; comparing a change in a position of a bottom edge of the hypothetical static object in the first image frame and the second image frame relative to a change in a position of an image point of a road plane in the first image frame and the second image frame; and determining that the suspect hazard image points correspond to an actual static object corresponding to the hypothetical static object if the change in the position of the bottom edge of the hypothetical static object is attributable to the change in the position of the image point of the road plane. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system mountable in a host vehicle, the system including a camera operatively connectible to a processor, the processor of the system configured, while the host vehicle is moving, to:
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capture a first image frame and a second image frame from a field of view of the camera; track corresponding image points from the first image frame and the second image frame; detect a plurality of corresponding suspect hazard image points, from among the tracked image points, based on a comparison of the first image frame to the second image frame; represent a hypothetical static object corresponding to the suspect hazard image points; compare a change in a position of a bottom edge of the hypothetical static object in the first image frame and the second image frame relative to a change in a position of an image point of a road plane in the first image frame and the second image frame; and determine that the suspect hazard image points correspond to an actual static object corresponding to the hypothetical static object if the change in the position of the bottom edge of the hypothetical static object is attributable to the change in the position of the image point of the road plane. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A non-transitory computer readable medium storing computer-executable instructions that, when executed by the processor, cause the processor to perform a method comprising:
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capturing a first image frame and a second image frame from a field of view of the camera; tracking corresponding image points from the first image frame and the second image frame; detecting a plurality of corresponding suspect hazard image points, from among the tracked image points, based on a comparison of the first image frame to the second image frame; representing a hypothetical static object corresponding to the suspect hazard image points; comparing a change in a position of a bottom edge of the hypothetical static object in the first image frame and the second image frame relative to a change in a position of an image point of a road plane in the first image frame and the second image frame; and determining that the suspect hazard image points correspond to an actual static object corresponding to the hypothetical static object if the change in the position of the bottom edge of the hypothetical static object is attributable to the change in the position of the image point of the road plane. - View Dependent Claims (17, 18, 19, 20)
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Specification