Estimating distance to an object using a sequence of images recorded by a monocular camera
AssigneeMobileye Vision Technologies Ltd.
InventorsGideon P. Stein, Andras D. Ferencz, Ofer Avni
Life of this patent
Estimating the term…
Abstract
A method for monitoring headway to an object performable in a computerized system including a camera mounted in a moving vehicle. The camera acquires in real time multiple image frames including respectively multiple images of the object within a field of view of the camera. An edge is detected in in the images of the object. A smoothed measurement is performed of a dimension the edge. Range to the object is calculated in real time, based on the smoothed measurement.
Claims20
A system for determining a location of a horizon, comprising:
- at least one processor configured to:
- receive, from an image capturing device mounted on a moving vehicle, a plurality of images depicting the horizon;
- determine a first location of the horizon in a first image of the plurality of images based on a first representation of the horizon in the first image;
- detect a change in a position of the moving vehicle, wherein the change in position comprises a change in a pitch of the vehicle and wherein the change in position is determined at least based on:
- detecting a road lane based on an analysis of one or more of the plurality of images;
- determining a vanishing point of the road lane;
- and
- detecting relative motion of the vanishing point;
- and
- determine a second horizon location of the horizon in a second image of the plurality of images, wherein the second location of the horizon is determined relative to the first location of the horizon based on the detected change.
A method for determining a location of a horizon, the method comprising the following operations performed by one or more processors:
- receiving, from an image capturing device mounted on a moving vehicle, a plurality of images depicting the horizon;
- determining a first location of the horizon in a first image of the plurality of images based on a first representation of the horizon in the first image;
- detecting a change in a position of the moving vehicle, wherein the change in position comprises a change in a pitch of the vehicle and wherein the change in position is determined at least based on:
- detecting a road lane based on an analysis of one or more of the plurality of images;
- determining a vanishing point of the road lane;
- and
- detecting relative motion of the vanishing point;
- and
- determining a second location of the horizon in a second image of the plurality of images, wherein the second location of the horizon is determined relative to the first horizon location of the horizon based on the detected change.
A vehicle, comprising:
- a body;
- and
- at least one processing device programmed to:
- receive, from an image capturing device mounted on a moving vehicle, a plurality of images depicting the horizon;
- determine a first location of the horizon in a first image of the plurality of images based on a first representation of a horizon in the first image;
- detect a change in a position of the moving vehicle, wherein the change in position comprises a change in a pitch of the vehicle and wherein the change in position is determined at least based on:
- detecting a road lane based on an analysis of one or more of the plurality of images;
- determining a vanishing point of the road lane;
- and
- detecting relative motion of the vanishing point;
- and
- determine a second location of the horizon in a second image of the plurality of images, wherein the second location of the horizon is determined relative to the first location of the horizon based on the detected change.
Dependencies are inferred from the claim text.