Obstacle detection apparatus and method

Details Obstacle detection apparatus and method Obstacle detection apparatus and method

2006-01-10

2006-01-10

Trieu, Van T. (Department: 2636)

Communications: electrical

Land vehicle alarms or indicators

Of relative distance from an obstacle

C340S436000, C340S937000, C348S148000

Reexamination Certificate

active

06985075

ABSTRACT:
A stereo camera inputs a first image and a second image each including a predetermined plane. An image conversion unit projects each pixel of the predetermined plane from the first image onto a corresponding pixel of the second image as a third image. A feature conversion unit respectively emphasizes edges included in the first image, the second image and third image. A similarity calculation unit sets a plurality of areas on the predetermined plane from the second feature conversion image, calculates a first similarity between each area of the second feature conversion image and a corresponding area of the first feature conversion image, and calculates a second similarity between each area of the second feature conversion image and a corresponding area of the third feature conversion image. An obstacle decision unit detects an obstacle based on the first similarity and the second similarity.

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Hattori, H. et al., “Stereo Without Depth Search and Metric Calibration”, Proc. CUPR, pp. 177-184, (2000).

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