Fast obstacle detection

摘要

Systems and methods for detecting obstacles using a single camera positioned on an apparatus in motion over an area of motion, or stationary over a moving area of motion. In an example method, a video stream of images is captured of the area of motion. The images in the video stream may be corrected for lens distortion prior to further processing. An Nth image frame is selected from a sequence of N images in the video stream. A set of N−1 difference images is calculated by subtracting each of the N−1 previous images from the Nth image. The N−1 difference images are added to one another to generate a combined difference image. A perspective transformation is performed on the combined difference image to generate a transformed image. The transformed image is analyzed to detect edges of obstacles in the transformed image. A signal indicating detection of an obstacle in the area of motion may then be generated.

主权项

1. A system for detecting an obstacle comprising:
one camera positioned on an apparatus to capture a video stream of images of an area of motion in which the apparatus is moving; and an obstacle detection function configured to receive the video stream of images, and to process the video stream of images by:
selecting an Nth image frame from a sequence of N images received in the video stream;determining N−1 difference images by subtracting each of N−1 previous images from the Nth image;adding the N−1 difference images to generate a combined difference image;performing a perspective transformation on the combined difference image to generate a transformed image;further processing the transformed image by segmentation wherein the transformed image is segmented by a plurality of lines extending from a projection point; andgenerating a signal indicating detection of an obstacle in the area of motion based on identification of peaks and valleys in segments of the transformed image and a proximity of the peaks and valleys to one another, the peaks and valleys identified as local maximums and local minimums.