Method for detecting an obstacle

摘要

The method involves inversely transforming a transformed image (16) from a road plane, in an image plane by a difference image. An image stabilization process is performed based on a received image and the inversely transformed image. Errors conditional upon road unevenness, carrier inclination and carrier vibrations are compensated. An edge image is produced from the received and inversely transformed images during the process. A movement vector is calculated using the edge image and utilized for compensating the errors. Independent claims are also included for the following: (1) a computer program with program code for performing a method for detecting an obstacle on a road when the computer program is executed in a computer or a corresponding processing unit (2) a computer program product comprising a computer readable medium including program code for performing a method for detecting an obstacle on a road when the program code is executed in a computer or a corresponding processing unit (3) a device for detecting an obstacle on a road.