Selecting visible regions in nighttime images for performing clear path detection

摘要

A method provides for determining visible regions in a captured image during a nighttime lighting condition. An image is captured from an image capture device mounted to a vehicle. An intensity histogram of the captured image is generated. An intensity threshold is applied to the intensity histogram for identifying visible candidate regions of a path of travel. The intensity threshold is determined from a training technique that utilizes a plurality of training-based captured images of various scenes. An objective function is used to determine objective function values for each correlating intensity value of each training-based captured image. The objective function values and associated intensity values for each of the training-based captured images are processed for identifying a minimum objective function value and associated optimum intensity threshold for identifying the visible candidate regions of the captured image.

主权项

1. A method of determining visible regions in a captured image during a nighttime lighting condition, the method comprising the steps of:
capturing an image from an image capture device mounted to a vehicle; generating an intensity histogram of the captured image; applying an intensity threshold to the intensity histogram for identifying visible candidate regions of a path of travel, the intensity threshold determined from a training technique that utilizes a plurality of training-based captured images of various scenes, wherein an objective function is used to determine objective function values for each correlating intensity value of each training-based captured image, wherein the objective function values and associated intensity values for each of the training-based captured images are processed for identifying a minimum objective function value and associated optimum intensity threshold for identifying the visible candidate regions of the captured image.