# US 2014/0152825 A1 · Vehicle vision system utilizing corner detection > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0152825 A1 - Document ID: US20140152825A1 - Status: Published application - Kind: A1 - Application number: 14/093,980 - Filed: 2013-12-02 - Published: 2014-06-05 - Earliest claimed: 2012-12-04 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics Inc. - Inventors: Michael Schaffner - Web page: https://patentgrep.com/patent/US20140152825A1 ## CPC - G06T 7/13: Edge detection - G06T 7/44: using image operators, e.g. filters, edge density metrics or local histograms - G06V 10/147: Details of sensors, e.g. sensor lenses (fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19) - G06V 10/44: Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - H04N 23/61: based on recognised objects - H04N 23/63: by using electronic viewfinders - H04N 23/661: Transmitting camera control signals through networks, e.g. control via the Internet - G06T 2207/10016: Video; Image sequence - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A vehicular vision system includes an image sensor operable to capture image data and an image processor operable to process frames of captured image data. The image processor is operable to detect edges or corners in the captured images. The image processor is operable to determine a number of edges detected in individual frames of captured image data. The vision system adjusts a sensitivity of the image processor responsive to the determined number of edges detected in at least one frame of captured image data. The image processor may detect up to a selected maximum number of edges in a frame of captured image data, and the vision system may adjust the sensitivity of the image processor so that the determined number of edges detected in a subsequent frame of captured image data is at or near the selected maximum number of edges. ## Claims ### Claim 1 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; and 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. ### Claim 2 (depends on 1) The vehicular vision system of claim 1, 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. ### Claim 3 (depends on 2) The vehicular vision system of claim 2, 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. ### Claim 4 (depends on 1) The vehicular vision system of claim 1, 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. ### Claim 5 (depends on 1) The vehicular vision system of claim 1, wherein said image processor is operable to detect up to a selected maximum number of edges in a given frame of captured image data, and wherein said vision system, responsive to the number of edges detected in a frame of captured image data, is operable to adjust the sensitivity of said image processor so that the determined number of edges detected in a subsequent frame of captured image data is at or near the selected maximum number of edges. ### Claim 6 (depends on 5) The vehicular vision system of claim 5, wherein the selected maximum number of edges is adjustable. ### Claim 7 (depends on 5) The vehicular vision system of claim 5, 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. ### Claim 8 (depends on 7) The vehicular vision system of claim 7, wherein said image sensor comprises a high dynamic range sensor. ### Claim 9 (depends on 1) The vehicular vision system of claim 1, wherein said image sensor comprises a high dynamic range sensor. ### Claim 10 (depends on 1) The vehicular vision system of claim 1, wherein said image processor is operable to determine a number of corners detected in individual frames of captured image data, and wherein said vision system adjusts the sensitivity of said image processor responsive to the determined number of corners detected in at least one frame of captured image data. ### Claim 11 (depends on 10) The vehicular vision system of claim 10, wherein said image processor is operable to detect up to a selected maximum number of corners in a given frame of captured image data, and wherein said vision system, responsive to the number of corners detected in a frame of captured image data, is operable to adjust the sensitivity of said image processor so that the determined number of corners detected in a subsequent frame of captured image data is at or near the selected maximum number of corners. ### Claim 12 (depends on 1) The vehicular vision system of claim 1, wherein said image processor determines edges in the captured image data via a FAST-9 algorithm. ### Claim 13 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. ### Claim 14 (depends on 13) The vehicular vision system of claim 13, wherein said image processor is operable to detect up to a selected maximum number of corners in a given frame of captured image data, and wherein said vision system, responsive to the number of corners detected in a frame of captured image data, is operable to adjust the sensitivity of said image processor so that the determined number of corners detected in a subsequent frame of captured image data is at or near the selected maximum number of corners. ### Claim 15 (depends on 14) The vehicular vision system of claim 14, wherein the selected maximum number of corners is adjustable. ### Claim 16 (depends on 14) The vehicular vision system of claim 14, 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 corners that is close to the capability of said image processor but not greater than the capability of said image processor. ### Claim 17 (depends on 13) The vehicular vision system of claim 13, wherein said image sensor comprises a high dynamic range sensor. ### Claim 18 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. ### Claim 19 (depends on 18) The vehicular vision system of claim 18, wherein said image processor is operable to detect up to a selected maximum number of edges in a given frame of captured image data, and wherein said vision system, responsive to the number of edges detected in a frame of captured image data, is operable to adjust the sensitivity of said image processor so that the determined number of edges detected in a subsequent frame of captured image data is at or near the selected maximum number of edges. ### Claim 20 (depends on 18) The vehicular vision system of claim 18, wherein said image processor is operable to determine a number of corners detected in individual frames of captured image data, and wherein said vision system adjusts the sensitivity of said image processor responsive to the determined number of corners detected in at least one frame of captured image data.