Obstacle detection device and method therefor

Details Obstacle detection device and method therefor Obstacle detection device and method therefor

2005-06-14

2005-06-14

Wu, Daniel (Department: 2632)

Communications: electrical

Land vehicle alarms or indicators

Of relative distance from an obstacle

C340S937000, C340S436000, C382S104000, C382S103000, C701S045000

Reexamination Certificate

active

06906620

ABSTRACT:
Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device10is structured by an image input section11for receiving images from a plurality of image pick-up devices101, a correspondence detection section12for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section13for calculating a slope degree of a plane including the corresponding points, and a result determination section14for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.

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Hiroshi Hattori et al., “Stereo Without Depth Search and Metric Calibration”, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2000, pp 177-184 (2000).

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