Vehicular vision system with object detection

A method for object detection using a vehicular vision system, said method comprising:

• equipping a vehicle with a camera so that the camera is disposed at an in-cabin side of a windshield of the equipped vehicle and has a field of view forward of the equipped vehicle through the windshield;
• wherein the camera comprises an imager having at least one million photosensing elements arranged in rows and columns;
• wherein the camera is part of a pedestrian detection system of the equipped vehicle;
• providing a control at the equipped vehicle, the control comprising an image processor;
• capturing frames of image data with the camera;
• processing at the control frames of image data captured by the camera;
• providing to the control vehicle motion information of the equipped vehicle;
• wherein providing to the control vehicle motion information comprises providing to the control vehicle motion information via a communication bus of the equipped vehicle;
• wherein the provided vehicle motion information includes at least speed of the equipped vehicle and trajectory of the equipped vehicle;
• while the equipped vehicle is moving, and responsive at least in part to (i) processing at the control of vehicle motion information of the equipped vehicle and (ii) processing at the control of frames of image data captured by the camera, detecting a pedestrian present in the field of view of the camera and determining motion of the detected pedestrian relative to the moving equipped vehicle;
• and
• wherein determining motion of the detected pedestrian relative to the moving equipped vehicle comprises (i) determining corresponding feature points of the detected pedestrian in at least two frames of image data captured by the camera and (ii) estimating pedestrian motion trajectory of the detected pedestrian based on the determined corresponding feature points.

A method for object detection using a vehicular vision system, said method comprising:

• equipping a vehicle with a camera so that the camera is disposed at an in-cabin side of a windshield of the equipped vehicle and has a field of view forward of the equipped vehicle through the windshield;
• wherein the camera comprises an imager having at least one million photosensing elements arranged in rows and columns;
• providing a control at the equipped vehicle, the control comprising an image processor;
• capturing frames of image data with the camera;
• processing at the control frames of image data captured by the camera;
• providing to the control vehicle motion information of the equipped vehicle;
• wherein the provided vehicle motion information includes at least speed of the equipped vehicle and trajectory of the equipped vehicle;
• while the equipped vehicle is moving, and responsive at least in part to (i) processing at the control of vehicle motion information of the equipped vehicle and (ii) processing at the control of frames of image data captured by the camera, detecting an object present in the field of view of the camera and determining motion of the detected object relative to the moving equipped vehicle;
• wherein determining motion of the detected object relative to the moving equipped vehicle comprises (i) determining corresponding feature points of the detected object in at least two frames of image data captured by the camera and (ii) estimating object motion trajectory of the detected object based on the determined corresponding feature points;
• and
• determining structure of the detected object based on the estimated object motion trajectory of the detected object.