MONOCULAR CUED DETECTION OF THREE-DIMENSIONAL STRUCTURES FROM DEPTH IMAGES

摘要

Detection of three dimensional obstacles using a system mountable in a host vehicle including a camera connectible to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, an imaged feature is detected of an object in the environment of the vehicle. The image frames are portioned locally around the imaged feature to produce imaged portions of the image frames including the imaged feature. The image frames are processed to compute a depth map locally around the detected imaged feature in the image portions. Responsive to the depth map, it is determined if the object is an obstacle to the motion of the vehicle.

主权项

1. A method for detection of three dimensional obstacles, the method performed by a system mountable in a host vehicle, wherein the system includes a camera operatively connectible to a processor, the method comprising:
capturing a plurality of image frames in the field of view of the camera; and in the image frames, detecting an imaged feature of an object in the environment of the vehicle; portioning the image frames locally around the imaged feature to produce image portions of the image frames including the imaged feature; processing the image frames thereby computing a depth map locally around the detected imaged feature in said image portions, wherein the depth map includes an image of the feature with a color or grayscale coordinate related to a function of distance from the camera to the object; and responsive to the depth map, determining if the object is an obstacle to the motion of the vehicle.