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.
Claims25
A system for determining a distance from a moving vehicle to a pedestrian ahead of the moving vehicle, comprising:
- at least one processing device comprising circuitry and a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processing device to:
- receive a plurality of images captured by an image capturing device mounted on the moving vehicle, the plurality of images including representations of the pedestrian;
- identify in a first image of the plurality of images, a bottom edge of the pedestrian, a top edge of the pedestrian, and a horizon represented in the first image;
- determine based on the bottom edge and the top edge, a first measured height of the pedestrian represented in the first image;
- determine a second measured height of the pedestrian based on a difference between a vertical position of the bottom edge and a vertical position of the horizon represented in the first image;
- and
- determine a distance from the moving vehicle to the pedestrian based on the first measured height and the second measured height.
A method for determining a distance from a moving vehicle to a pedestrian ahead of the moving vehicle, the method comprising:
- receiving a plurality of images captured by an image capturing device mounted on the moving vehicle, the plurality of images including representations of the pedestrian;
- identifying in a first image of the plurality of images, a bottom edge of the pedestrian, a top edge of the pedestrian, and a horizon represented in the first image;
- determining based on the bottom edge and the top edge, a first measured height of the pedestrian represented in the first image;
- determining a second measured height of the pedestrian based on a difference between a vertical position of the bottom edge and a vertical position of the horizon represented in the first image;
- and
- determining a distance from the moving vehicle to the pedestrian based on the first measured height and the second measured height.
A non-transitory computer-readable medium storing instructions that when executed by at least one processing device perform a method for determining a distance from a moving vehicle to a pedestrian ahead of the moving vehicle, the method comprising:
- receiving a plurality of images captured by an image capturing device mounted on the moving vehicle, the plurality of images including representations of the pedestrian;
- identifying in a first image of the plurality of images, a bottom edge of the pedestrian, a top edge of the pedestrian, and a horizon represented in the first image;
- determining based on the bottom edge and the top edge, a first measured height of the pedestrian represented in the first image;
- determining a second measured height of the pedestrian based on a difference between a vertical position of the bottom edge and a vertical position of the horizon represented in the first image;
- and
- determining a distance from the moving vehicle to the pedestrian based on the first measured height and the second measured height.
Dependencies are inferred from the claim text.