System and method for generating a model of the path of a roadway from an image recorded by a camera

  • US 7,151,996 B2
  • Filed: 04/14/2001
  • Issued: 12/19/2006
  • Est. Priority Date: 04/14/2000
  • Status: Active Grant
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First Claim
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1. Apparatus for monitoring motion of a vehicle relative to a road on which the vehicle is traveling, comprising:

  • a camera that acquires an image of a scene in which the road is present; and

    a controller thata) defines a plurality of real-space curves having different shapes and/or orientations that are candidates for substantially lying along a contour of the road;

    b) for each candidate curve, for each of a plurality of lines of pixels in the image that image regions of the scene lying along the candidate curve or that image regions of the scene lying along a same curve homologous with and having a same orientation as the candidate curve, determines a value that is a function of gradients of pixel intensities at locations along the line;

    c) determines a candidate curve that most closely lies along the road contour responsive to the values determined for the lines; and

    d) uses the determined candidate curve to monitor motion of the vehicle relative to the road.

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  • 3 Assignments
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