A method for determining a dimension of an object

A non-transitory computer readable medium for providing dimensional information related to an object, the non-transitory computer readable medium stores instructions for

• (a) receiving an image that was acquired by a vehicle camera of a vehicle;
• the image captures the horizon, the object, and road lane boundaries;
• (b) determining an initial row-location horizon estimate and a row-location contact point estimate, the row-location contact point estimate represents a contact between the object and a road on which the vehicle is positioned;
• (c) determining a vehicle camera pitch angle correction and an actual vehicle camera pitch angle, wherein the vehicle camera pitch angle correction, once applied, will cause the road lanes boundaries to be parallel to each other in a real world;
• (d) calculating the distance between the vehicle and the object based on the vehicle camera pitch angle, a focal length of the vehicle camera, a horizon estimate, the row-location contact point estimate;
• and
• (e) determining the dimension of the object based on the focal length of the vehicle camera, a corresponding dimension of the object within the image and the distance between the vehicle camera and the object.

A vehicle processing circuit that is configured to:

• (a) receive an image that was acquired by a vehicle camera of a vehicle;
• the image captures the horizon, the object, and road lane boundaries;
• (b) determine an initial row-location horizon estimate and a row-location contact point estimate, the row-location contact point estimate represents a contact between the object and a road on which the vehicle is positioned;
• (c) determine a vehicle camera pitch angle correction and an actual vehicle camera pitch angle, wherein the vehicle camera pitch angle correction, once applied, will cause the road lanes boundaries to be parallel to each other in a real world;
• (d) calculate the distance between the vehicle and the object based on the vehicle camera pitch angle, a focal length of the vehicle camera, a horizon estimate, the row-location contact point estimate;
• and
• (e) determine the dimension of the object based on the focal length of the vehicle camera, a corresponding dimension of the object within the image and the distance between the vehicle camera and the object.