ROAD VERTICAL CONTOUR DETECTION

摘要

A driver assistance/control system includes a camera operatively connectible to a processor mountable in a host vehicle. A vertical deviation in road contour is detected while the host vehicle is moving. First, second and third images of the road are captured from the camera. By matching image points of the road in the first image and corresponding image points of the road in the second image, a first homography is computed which transforms the first image of the road to the second image of the road. A second homography is computed which transforms the second image of the road to the third image of the road. A chained homography is computed by chaining the first and second homographies. By using the chained homography as an initial guess, a third homography is computed which transforms the first image of the road to the third image of the road.

主权项

1. A computerized method for detecting a vertical deviation in contour of a road, the method performable by a driver assistance system mountable in a host vehicle while the host vehicle is moving, wherein the driver assistance system includes a camera operatively connectible to a processor, the method comprising:
capturing from the camera a first image of the road at a first time, a second image of the road at a second time later than the first time, and a third image of the road at a third time later than the second time; by matching image points of the road in the first image and corresponding image points of the road in the second image, computing a first homography which transforms the first image of the road to the second image of the road; by matching image points of the road in the second image and corresponding image points of the road in the third image, computing a second homography which transforms the second image of the road to the third image of the road; chaining the first and second homography to compute a chained homography; by using the chained homography as an initial guess, computing a third homography which transforms the first image of the road to the third image of the road.