CLEAR PATH DETECTION USING A VANISHING POINT
First Claim
1. A method for estimating a vanishing point in a roadway using a current image generated by a camera on a vehicle, the method comprising:
- defining an exemplary vanishing point for each of a plurality of sample images;
identifying features within each of the plurality of sample images;
monitoring the current image generated by the camera;
identifying features within the current image;
matching the current image to at least one of the sample images based upon the identified features within the current image and the identified features within the plurality of sample images;
determining a vanishing point based upon the matching and the exemplary vanishing points for each of the matched sample images; and
utilizing the vanishing point to navigate the vehicle.
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Abstract
A method for estimating a vanishing point in a roadway using a current image generated by a camera on a vehicle includes defining an exemplary vanishing point for each of a plurality of sample images, identifying features within each of the plurality of sample images, monitoring the current image generated by the camera, identifying features within the current image, matching the current image to at least one of the sample images based upon the identified features within the current image and the identified features within the plurality of sample images, determining a vanishing point based upon the matching and the exemplary vanishing points for each of the matched sample images, and utilizing the vanishing point to navigate the vehicle.
105 Citations
22 Claims
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1. A method for estimating a vanishing point in a roadway using a current image generated by a camera on a vehicle, the method comprising:
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defining an exemplary vanishing point for each of a plurality of sample images; identifying features within each of the plurality of sample images; monitoring the current image generated by the camera; identifying features within the current image; matching the current image to at least one of the sample images based upon the identified features within the current image and the identified features within the plurality of sample images; determining a vanishing point based upon the matching and the exemplary vanishing points for each of the matched sample images; and utilizing the vanishing point to navigate the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for detecting a clear path of travel for a vehicle using an image generated by a camera, the method comprising:
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analyzing the image through clear path detection analysis to determine a clear path of travel within the image; estimating a vanishing point in the image; combining the clear path of travel and the vanishing point to describe an enhanced clear path of travel; and utilizing the enhanced clear path of travel to navigate the vehicle. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification