Obstacle determination system and method implemented through utilizing bird's-eye-view images
First Claim
1. An obstacle determination system implemented through utilizing bird'"'"'s-eye-view images, comprising:
- a plurality of image fetching devices, installed on a vehicle and that are used to obtain a plurality of images around said vehicle;
an image processor, used to convert said images respectively into a plurality of independent bird'"'"'s-eye-view images, wherein, said independent bird'"'"'s-eye-view images of two adjacent regions contain said image of an overlapped region; and
an obstacle detection unit, used to compare correlation of said overlapped regions in said independent bird'"'"'s-eye-view images of said two adjacent regions, and determine existence of an obstacle based on said correlation.
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Abstract
A technology of determining obstacles around a vehicle through utilizing bird'"'"'s-eye-view images; wherein, a plurality of image fetching devices disposed in various positions of said vehicle fetch a plurality of images around said vehicle, said images of two adjacent regions contain at least an overlapped region; an image processor transforms said images into said respective independent bird'"'"'s-eye-view images; and an obstacle detection unit compares said overlapped region in said independent bird'"'"'s-eye-view images of two adjacent regions, so as to obtain their correlations, and existence of said obstacle is determined based on said correlations. Moreover, a correspondence table is set up containing a set of space transformation information based on vehicle driving condition information. Therefore, a surrounding bird'"'"'s-eye-view image of an appropriate visual angle can be produced quickly and a position of said obstacle is marked on said surrounding bird'"'"'s-eye-view image.
49 Citations
16 Claims
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1. An obstacle determination system implemented through utilizing bird'"'"'s-eye-view images, comprising:
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a plurality of image fetching devices, installed on a vehicle and that are used to obtain a plurality of images around said vehicle; an image processor, used to convert said images respectively into a plurality of independent bird'"'"'s-eye-view images, wherein, said independent bird'"'"'s-eye-view images of two adjacent regions contain said image of an overlapped region; and an obstacle detection unit, used to compare correlation of said overlapped regions in said independent bird'"'"'s-eye-view images of said two adjacent regions, and determine existence of an obstacle based on said correlation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An obstacle determination method implemented through utilizing bird'"'"'s-eye-view images, comprising the following steps:
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fetching vehicle signals of a vehicle, selecting a corresponding correspondence table, and fetching a plurality of images around said vehicle, producing a surrounding bird'"'"'s-eye-view image based on said correspondence table, wherein, said image of two adjacent regions contain an overlapped region; transforming said images respectively into a plurality of independent bird'"'"'s-eye-view images; determining correlation of said overlapped region in said independent bird'"'"'s-eye-view images of two adjacent regions; determining if an obstacle exists in said overlapped region; and if said obstacle does exist in said overlapped region, then marking said obstacle in said surrounding bird'"'"'s-eye-view image. - View Dependent Claims (12, 13, 14, 15, 16)
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Specification