Method for Estimating Free Space using a Camera System
First Claim
1. A method for estimating free space near a moving object from a sequence of images in a video acquired of a scene by a camera system arranged on the moving object, comprising for each image in the video the steps of:
- constructing a one-dimensional graph, wherein each node in the graph corresponds to a column of pixels in the image;
determining features in the image;
constructing an energy function on the graph based on the features; and
using dynamic programming to maximize the energy function to obtain a curve, wherein an area under the curve defines the free space, and wherein the steps are performed in a processor.
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Abstract
A method estimates free space near a moving object from a sequence of images in a video acquired of a scene by a camera system arranged on the moving object by First constructing a one-dimensional graph, wherein each node corresponds to a column of pixels in the image. Features are determined in the image, and an energy function is constructed on the graph based on the features. Using dynamic programming, the energy function is maximized to obtain the free space.
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25 Claims
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1. A method for estimating free space near a moving object from a sequence of images in a video acquired of a scene by a camera system arranged on the moving object, comprising for each image in the video the steps of:
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constructing a one-dimensional graph, wherein each node in the graph corresponds to a column of pixels in the image; determining features in the image; constructing an energy function on the graph based on the features; and using dynamic programming to maximize the energy function to obtain a curve, wherein an area under the curve defines the free space, and wherein the steps are performed in a processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 25)
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Specification