Method of object detection

• US 8,116,524 B2
• Filed: 08/29/2008
• Issued: 02/14/2012
• Est. Priority Date: 09/13/2007
• Status: Active Grant

• Current Assignee: Aptiv Technologies AG
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Ma, Guanglin, Park, Ing Su-Birm, Ioffe, Alexander
• Primary Examiner(s): Tabatabai, Abolfazl
• Application Number:
  US12/231,299
• Publication Number:
  US 20090129632A1
• Time in Patent Office: 1,264 Days
• Field of Search: 382/103, 382/104, 382/107, 382/149, 382/236, 348/154, 348/155, 348/169, 348/170, 348/171, 348/172, 348/352, 340/910, 340/917, 340/918, 340/933, 701/34, 701/109
• US Class Current: 382/103
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 40/103 Static body considered as a whole, e.g. static pedestrian or occupant recognition

Abstract

A method is set forth for the detection of an object, in particular in a road, in particular of a pedestrian, in the surroundings in the range of view of an optical sensor attached to a carrier such as in particular a vehicle, wherein, from the range of view of the optical sensor, a relevant spatial region disposed below the horizon is determined, a gray scale image is produced by means of the optical sensor which includes a relevant image region corresponding to the relevant spatial region, and a search for a possible object is only made in this relevant image region corresponding to the relevant spatial region disposed below the horizon for the detection of the object.

Claims

1. A method for the detection of an object in the surroundings within view of an optical sensor attached to a vehicle, comprising:

determining a relevant spatial region below a horizon within view of the optical sensor;

producing a gray scale image by means of the optical sensor, said gray scale image including a relevant image region corresponding to the relevant spatial region;

adding gray scale values for every column of pixels within the relevant image region of the gray scale image;

producing an upper envelope of a gray value signal integrated column-wise;

determining a difference between the upper envelope and the gray value signal in order to obtain a one-dimensional profile representing the vertical orientation within the relevant image region of the gray scale image; and

searching the difference to detect an object, said searching being carried out only in the relevant image region corresponding to the relevant spatial region below the horizon.

2. A method in accordance with claim 1, wherein the relevant image section of the gray scale image is a narrow horizontal strip below the horizon.

3. A method in accordance with claim 1, wherein searching to detect an object includes searching for at least one feature representative of a vertical orientation.

4. A method in accordance with claim 1, wherein the gray scale values of the one-dimensional profile are compared with a threshold value, and a respective value of the one-dimensional profile disposed above the threshold value is used as an indication for an initial object detection.

5. A method in accordance with claim 4, wherein a binary vertical edge is extracted for each initial object detection within the relevant image region of the gray scale image, and the extracted vertical edge is subjected to a morphological operation obtaining a presettably pronounced vertical edge.

6. A method in accordance with claim 5, wherein a lowest end point of each pronounced vertical edge is located, and the lowest end point is defined as a nadir of a possible detected object.

7. A method in accordance with claim 6, wherein starting from the nadir of the possible detected object, a bounding box is produced that is adapted to a size of the possible detected object.

8. A media including computer-readable instructions for detection of an object in the surroundings of a moving vehicle using an optical sensor having a view, said computer-readable instructions being adapted to configure a data processing device to carry out a method comprising:

determining a relevant spatial region below a horizon within view of the optical sensor;

producing a gray scale image by means of the optical sensor, said gray scale image including a relevant image region corresponding to the relevant spatial region;

adding gray scale values for every column of pixels within the relevant image region of the gray scale image;

producing an upper envelope of a gray value signal integrated column-wise;

determining a difference between the upper envelope and the gray value signal in order to obtain a one-dimensional profile representing the vertical orientation within the relevant image region of the gray scale image; and

searching the difference to detect an object, said searching being carried out only in the relevant image region corresponding to the relevant spatial region below the horizon.

9. An apparatus for the detection of an object in the surroundings of a moving vehicle, said apparatus comprising:

an optical sensor attached to the moving vehicle; and

a data processing device connected to the optical sensor and configured to carry out a method comprising;

determining a relevant spatial region below a horizon within view of the optical sensor;

producing a gray scale image by means of the optical sensor, said gray scale image including a relevant image region corresponding to the relevant spatial region;

adding gray scale values for every column of pixels within the relevant image region of the gray scale image;

producing an upper envelope of a gray value signal integrated column-wise;

determining a difference between the upper envelope and the gray value signal in order to obtain a one-dimensional profile representing the vertical orientation within the relevant image region of the gray scale image; and

searching the difference to detect an object, said searching being carried out only in the relevant image region corresponding to the relevant spatial region below the horizon.