System and method for detecting obstacle

Details System and method for detecting obstacle System and method for detecting obstacle

2007-05-18

2008-03-25

Kassa, Yosef (Department: 2624)

Image analysis

Image transformation or preprocessing

C382S278000, C382S282000, C382S294000, C348S139000, C348S143000, C348S159000

Reexamination Certificate

active

07349581

ABSTRACT:
A computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of steps including inputting a first image and a second image from two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, judging that there is no obstacle when there is no difference K of degree of similarity equal to or greater than a threshold value set beforehand about the vertical directions of all of the images, and detecting that there is the obstacle when there is the difference K of degree of similarity equal to or more than the threshold value in the vertical direction of the image.

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