System and method for detecting obstacle

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

2008-07-15

2008-07-15

Kassa, Yosef (Department: 2624)

Image analysis

Applications

Target tracking or detecting

C382S104000, C382S278000, C382S291000, C348S135000, C348S142000

Reexamination Certificate

active

07400746

ABSTRACT:
A method for detecting an obstacle by using two cameras of three or more cameras, the obstacle being on a reference plane in a field of view common to the two cameras, the method inputting a first image and a second image from the two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating a 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 the degree of similarity D and the degree of similarity P on a reference plane region, and selecting and outputting either a result of detection of a plurality of the obstacles or a position of an obstacle detected as being the closest to the three or more cameras.

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D. Koller, et al. “Using Binocular Stereopsis for Vision-based Vehicle Control”, In Proc of Intelligent Vehicles Symposium, 1994 pp. 237-242.

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