Obstacle detection system and method therefor

Details Obstacle detection system and method therefor Obstacle detection system and method therefor

2008-04-22

2008-04-22

Le, Brian (Department: 2624)

Image analysis

Applications

Target tracking or detecting

C382S199000

Reexamination Certificate

active

11116307

ABSTRACT:
An obstacle detection system using stereo cameras mounted on a vehicle, to detect an obstacle existing on a ground plane at a high speed and in a high precision even with the stereo cameras being uncalibrated and with a vibration during a traveling and a change in the inclination of the ground plane. The obstacle detection system comprises: a plurality of uncalibrated TV cameras for inputting stereo images; an image storage unit2for storing a plurality of images inputted from the TV cameras; a feature extraction unit3for extracting a plurality of mutually parallel lines existing on the ground plane; a parameter computation unit4for determining a relation to hold between the projected positions of an arbitrary point of the ground plane upon the individual images, from the plurality of lines extracted by the feature extraction unit3; and a detection unit5for detecting an object having a height from the ground plane, by using the relation determined by the parameter computation unit4.

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K. Storjohann, et al., IEEE International Conference on Robotics and Automation, pp. 761-766, “Visual Obstacle Detection for Automatically Guided Vehicles”, 1990.
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Q. T. Luong, et al., IEEE International Conference on Computer Vision, pp. 52-57, “An Integrated Stereo-Based Approach to Automatic Vehicle Guidance”, 1995.

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