Obstruction-free area determining method for drive assistance system in vehicle, involves considering surface-measuring point on ground plane during formation of depth map such that evidence of obstruction-measuring points is reduced

摘要

The method involves determining a range image (E) by a sensor system e.g. three dimensional camera, laser scanner or radar, and a depth map of a surrounding is determined from the range image. A surface-measuring point (nO) is considered on a ground plane (G) of the surrounding during the formation of the depth map such that an evidence and/or probability of obstruction -measuring points (nH1-nH7), which are detected at equal position of the surface-measuring point on the ground plane, is reduced.