CLEAR PATH DETECTION USING AN EXAMPLE-BASED APPROACH

摘要

A method for detecting a clear path of travel for a vehicle using a current image generated by a camera includes defining an exemplary vanishing point for each of a plurality of sample images. Features within each of the plurality of sample images are identified, the current image generated by the camera is monitored, and features within the current image are identified. The current image is matched to at least one of the sample images based upon the identified features within the current image and the identified features within the plurality of sample images. A vanishing point for the current image is determined based upon the matching and the exemplary vanishing point for each of the matched sample images. The vanishing point for the current image is utilized to define a clear path of travel, and the clear path of travel is utilized to navigate the vehicle.

主权项

1. A method for detecting a clear path of travel for a vehicle using a current image generated by a camera, the method comprising:
defining an exemplary vanishing point for each of a plurality of sample images; identifying features within each of the plurality of sample images; monitoring the current image generated by the camera; identifying features within the current image; matching the current image to at least one of the sample images based upon the identified features within the current image and the identified features within the plurality of sample images; determining a vanishing point for the current image based upon the matching and the exemplary vanishing point for each of the matched sample images; utilizing the vanishing point for the current image to define a clear path of travel; and utilizing the clear path of travel to navigate the vehicle.