Vehicle vision system utilizing corner detection

A vehicular vision system, said vehicular vision system comprising:

• an image sensor operable to capture frames of image data;
• an image processor operable to process captured image data;
• wherein said image processor is operable to determine corners in captured image data;
• wherein said image processor is operable to determine a number of corners detected in individual frames of captured image data;
• wherein said vision system adjusts a sensitivity of said image processor responsive to the determined number of corners detected in at least one frame of captured image data;
• wherein, when the determined number of corners detected in a frame of captured image data is above an upper threshold level, said vision system reduces the sensitivity of said image processor;
• and
• wherein, when the determined number of corners detected in a frame of captured image data is below a lower threshold level, said vision system increases the sensitivity of said image processor.

A vehicular vision system, said vehicular vision system comprising:

• an image sensor operable to capture frames of image data;
• an image processor operable to process captured image data;
• wherein said image processor is operable to determine edges in captured image data;
• wherein said image processor is operable to determine a number of edges detected in individual frames of captured image data;
• wherein said vision system adjusts a sensitivity of said image processor responsive to the determined number of edges detected in at least one frame of captured image data;
• wherein the sensitivity of said image processor is adjusted so that, for any given frame of captured image data, said image processor is operable to detect a number of edges that is close to the capability of said image processor but not greater than the capability of said image processor;
• wherein, when the determined number of edges detected in a frame of captured image data is above an upper threshold level, said vision system reduces the sensitivity of said image processor;
• and
• wherein, when the determined number of edges detected in a frame of captured image data is below a lower threshold level, said vision system increases the sensitivity of said image processor.