Using object appearance changes due to high reflectivity for feature detection
First Claim
1. A method, comprising:
- receiving, by a computing device, a sequence of images comprising a first image and a second image, wherein the first image is taken at a first time of an environment of a vehicle, wherein the second image is taken at a second time of the environment of the vehicle, wherein the vehicle comprises a light source operable to illuminate a portion of the environment within an illumination boundary, and wherein the first time is different from the second time;
detecting, by the computing device, an object in the first image, wherein the object has a first size and a first brightness in the first image, and wherein the object is not within the illumination boundary in the first image;
detecting, by the computing device, the object in the second image, wherein the object has a second size and a second brightness in the second image, and wherein the object is within the illumination boundary in the second image; and
classifying the object, by the computing device, wherein classifying the object comprises classifying the object as one of an actively illuminated object or a passively illuminated object based on at least the first brightness of the object when the object is not within the illumination boundary and the second brightness of the object when the object is within the illumination boundary.
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Accused Products
Abstract
Methods and apparatus are disclosed related to classifying illuminated objects. A computing device can receive a sequence of images including first and second images. The first image can be of an environment of a vehicle taken at a first time. The second image can be of the environment of the vehicle taken at a second time. The vehicle can include a light source that illuminates a portion of the environment. The first and second times can differ. The computing device can detect an object having a first size and a first brightness in the first image. The computing device can detect the object having a second size and a second brightness in the second image. The computing device can classify the object based on a brightness difference between the first brightness and second brightness and a size difference between the first size and second size.
11 Citations
23 Claims
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1. A method, comprising:
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receiving, by a computing device, a sequence of images comprising a first image and a second image, wherein the first image is taken at a first time of an environment of a vehicle, wherein the second image is taken at a second time of the environment of the vehicle, wherein the vehicle comprises a light source operable to illuminate a portion of the environment within an illumination boundary, and wherein the first time is different from the second time; detecting, by the computing device, an object in the first image, wherein the object has a first size and a first brightness in the first image, and wherein the object is not within the illumination boundary in the first image; detecting, by the computing device, the object in the second image, wherein the object has a second size and a second brightness in the second image, and wherein the object is within the illumination boundary in the second image; and classifying the object, by the computing device, wherein classifying the object comprises classifying the object as one of an actively illuminated object or a passively illuminated object based on at least the first brightness of the object when the object is not within the illumination boundary and the second brightness of the object when the object is within the illumination boundary. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A device including a computer-readable storage medium having stored thereon program instructions that, upon execution by a computing device, cause the computing device to perform operations comprising:
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receiving a sequence of images comprising a first image and a second image, wherein the first image is taken at a first time of an environment of a vehicle, wherein the second image is taken at a second time of the environment of the vehicle, wherein the vehicle comprises a light source operable to illuminate a portion of the environment within an illumination boundary, and wherein the first time is different from the second time; detecting an object in the first image, wherein the object has a first size and a first brightness in the first image, and wherein the object is not within the illumination boundary in the first image; detecting the object in the second image, wherein the object has a second size and a second brightness in the second image, and wherein the object is within the illumination boundary in the second image; and classifying the object, wherein classifying the object comprises classifying the object as one of an actively illuminated object or a passively illuminated objected based on at least the first brightness of the object when the object is not within the illumination boundary and the second brightness of the object when the object is within the illumination boundary. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A computing device, comprising:
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a processor; and a non-transitory computer-readable storage medium, storing instructions thereon that, when executed by the processor, cause the computing device to perform operations, comprising; receiving a sequence of images comprising a first image and a second image, wherein the first image is taken at a first time of an environment of a vehicle, wherein the second image is taken at a second time of the environment of the vehicle, wherein the vehicle comprises a light source operable to illuminate a portion of the environment within an illumination boundary, and wherein the first time is different from the second time, detecting an object in the first image, wherein the object has a first size and a first brightness in the first image, and wherein the object is not within the illumination boundary in the first image, detecting the object in the second image, wherein the object has a second size and a second brightness in the second image, and wherein the object is within the illumination boundary in the second image, and classifying the object, wherein the classifying the object comprises classifying the object as one of an actively illuminated object or a passively illuminated object based on at least the first brightness of the object when the object is not within the illumination boundary and the second brightness of the object when the object is within the illumination boundary. - View Dependent Claims (19, 20, 21, 22, 23)
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Specification