Obstacle detection apparatus and a method therefor

Details Obstacle detection apparatus and a method therefor Obstacle detection apparatus and a method therefor

2007-12-07

2010-02-09

Bali, Vikkram (Department: 2624)

Image analysis

Applications

Target tracking or detecting

C382S104000, C382S106000, C382S154000

Reexamination Certificate

active

07660434

ABSTRACT:
An apparatus of detecting an object on a road surface includes a stereo set of video cameras mounted on a vehicle to produce right and left images, a storage to store the right and left images, a parameter computation unit to compute a parameter representing road planarity constraint based on the images of the storage, a corresponding point computation unit to compute correspondence between a first point on one of the right and left images and a second point on the other, which corresponds to the first point, based on the parameter, an image transformation unit to produce a transformed image from the one image using the correspondence, and a detector to detect an object having a dimension larger than a given value in a vertical direction with respect to the road surface, using the correspondence and the transformed image.

REFERENCES:
patent: 6985075 (2006-01-01), Takeda
patent: 2000-293693 (2000-10-01), None
patent: 2001-076128 (2001-03-01), None
patent: 2002-352225 (2002-12-01), None
Leeuwen et al., Vehicle Detection with a Mobile Camera, IEEE Robotics & Automation Magazine, Mar. 2005, pp. 37-43.
Notice of Reasons for Rejection, mailed Jul. 14, 2009, from the Japanese Patent Office in Japanese Patent Application No. 2005-122547 (2 pages), and English language translation thereof (2 pages).

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