ESTIMATING DISTANCE TO AN OBJECT USING A SEQUENCE OF IMAGES RECORDED BY A MONOCULAR CAMERA
First Claim
1. A method for monitoring headway to an object, the method performable in a computerized system including a camera mounted in a moving vehicle, wherein A processor acquires in real time a plurality of image frames including respectively a plurality of images of the object within a field of view of the camera, the method comprising the steps of:
- detecting in at least two image frames at least one edge in the respective images of the object;
based on said detecting, performing a smoothed measurement of a dimension of said at least one edge; and
calculating range of the object in real time, based on said smoothed measurement.
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Accused Products
Abstract
A method for monitoring headway to an object performable in a computerized system including a camera mounted in a moving vehicle. The camera acquires in real time multiple image frames including respectively multiple images of the object within a field of view of the camera. An edge is detected in the images of the object. A smoothed measurement is performed of a dimension the edge. Range to the object is calculated in real time, based on the smoothed measurement.
167 Citations
18 Claims
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1. A method for monitoring headway to an object, the method performable in a computerized system including a camera mounted in a moving vehicle, wherein A processor acquires in real time a plurality of image frames including respectively a plurality of images of the object within a field of view of the camera, the method comprising the steps of:
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detecting in at least two image frames at least one edge in the respective images of the object; based on said detecting, performing a smoothed measurement of a dimension of said at least one edge; and calculating range of the object in real time, based on said smoothed measurement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A computerized system including a camera mountable in a moving vehicle, wherein the camera acquires in real time a plurality of image frames including respectively a plurality of images of an object within a field of view of the camera, wherein the system is configured to monitor headway in real time to the object, the system comprising:
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a detection mechanism adapted for detection of at least one edge in respective images of the object in at least two of the image frames; and a processor adapted to perform a smoothed measurement of a dimension of said at least one edge based on said detection, wherein said processor is adapted to calculate range to the object based on said smoothed measurement. - View Dependent Claims (16, 17)
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18. A method for monitoring headway to an object, the method performable in a computerized system including a camera mounted in a moving vehicle, wherein the camera acquires an image frame including an image of the object within a field of view of the camera, the method comprising
detecting a horizontal edge of the image of the object to sub-pixel accuracy by classifying the picture elements in the image frame as either imaging a portion of a road surface or not imaging a portion of a road surface; -
locating in the image frame an imaged height of the horizon; and determining said headway from the vertical position of said horizontal edge relative to the imaged height of the horizon.
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Specification