# US 10,872,431 B2 · Estimating distance to an object using a sequence of images recorded by a monocular camera > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,872,431 B2 - Document ID: US10872431B2 - Status: Granted - Kind: B2 - Application number: 16/183,623 - Filed: 2018-11-07 - Published: 2019-03-07 - Granted: 2020-12-22 - Earliest claimed: 2006-01-04 - Assignees: Mobileye Vision Technologies Ltd. - Applicants: Mobileye Vision Technologies Ltd. - Inventors: Gideon P. Stein; Andras D. Ferencz; Ofer Avni - Web page: https://patentgrep.com/patent/US10872431B2 ## CPC - G06T 7/55: from multiple images - G01B 11/026: {by measuring distance between sensor and object (G01B11/0608 takes precedence)} - G01B 11/14: for measuring distance or clearance between spaced objects or spaced apertures (G01B11/26 takes precedence; rangefinders G01C3/00) - G01C 3/22: using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object - G01S 11/12: using electromagnetic waves other than radio waves - G01S 17/93: for anti-collision purposes - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - B60R 2001/1253: {with cameras, video cameras or video screens} - B60R 2300/105: using multiple cameras - B60R 2300/802: for monitoring and displaying vehicle exterior blind spot views - B60R 2300/8093: for obstacle warning - G01C 3/00: Measuring distances in line of sight; Optical rangefinders (tapes, chains or wheels for measuring length G01B3/00; active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves, G01S17/48) - G01C 22/00: Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers - G06T 2207/10016: Video; Image sequence - G06T 2207/20024: Filtering details - G06T 2207/30196: Human being; Person - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06T 2207/30256: Lane; Road marking - G06T 2207/30261: Obstacle - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The system of claim 1, wherein the change in the position is detected based on pitch angle estimation. ### Claim 3 (depends on 2) The system of claim 2, where the pitch angle estimation is performed via an inertial sensor. ### Claim 4 (depends on 2) The system of claim 2, wherein the pitch angle estimation is performed via an analysis of the plurality of images. ### Claim 5 (depends on 4) The system of claim 4, wherein the analysis of the plurality of images comprises tracking one or more of pitch and yaw based on a comparison of two or more of the plurality of images. ### Claim 6 (depends on 1) The system of claim 1, wherein the at least one processor is further configured to: determine a dimension of a representation of an object in at least one of the plurality of images based on a comparison with the second location of the horizon. ### Claim 7 (depends on 1) The system of claim 1, wherein the change in the position is detected based on a combination of a pitch angle estimation and the determined vanishing point of the road lane, wherein the results of the pitch angle estimate and the determined vanishing point are combined via least squares. ### Claim 8 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. ### Claim 9 (depends on 8) The method of claim 8, wherein the change in the position is detected based on pitch angle estimation. ### Claim 10 (depends on 9) The method of claim 9, where the pitch angle estimation is performed via an inertial sensor. ### Claim 11 (depends on 9) The method of claim 9, wherein the pitch angle estimation is performed via an analysis of the plurality of images. ### Claim 12 (depends on 11) The method of claim 11 wherein the analysis of the plurality of images comprises tracking one or more of pitch and yaw based on a comparison of two or more of the plurality of images. ### Claim 13 (depends on 8) The method of claim 8, wherein the method further comprises: determining a dimension of a representation of an object in at least one of the plurality of images based on a comparison with the second location of the horizon. ### Claim 14 (depends on 8) The method of claim 8, wherein the change in the position is based on a combination of a pitch angle estimation and the determined vanishing point of the road lane, wherein the results of the pitch angle estimate and the determined vanishing point are combined via least squares. ### Claim 15 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. ### Claim 16 (depends on 15) The vehicle of claim 15, wherein the change in the position is detected based on pitch angle estimation. ### Claim 17 (depends on 16) The vehicle of claim 16, where the pitch angle estimation is performed via an inertial sensor. ### Claim 18 (depends on 16) The vehicle of claim 16, wherein the pitch angle estimation is performed via an analysis of the plurality of images. ### Claim 19 (depends on 15) The vehicle of claim 15, wherein the at least one processing device is further configured to: determine a dimension of a representation of an object in at least one of the plurality of images based on a comparison with the second location of the horizon. ### Claim 20 (depends on 15) The vehicle of claim 15, wherein the change in the position is detected based on a combination of a pitch angle estimation and the determined vanishing point of the road lane, wherein the results of the pitch angle estimate and the determined vanishing point are combined via least squares.