Method and apparatus for ground detection and removal in vision systems
AssigneeSarnoff Corporation
InventorsPeng Chang, David Hirvonen, Theodore Armand Camus
Life of this patent
Estimating the term…
Abstract
A vision system that forms a map of a scene proximate a platform, e.g., a vehicle, that determines the actual ground plane form the map, and that corrects the map for differences between the actual ground plane and an assumed ground plane. The vision system may remove the actual ground plane from the map to prevent false positives. The vision system can further identify and classify objects and, if appropriate, take evasive action.
Claims10
A method of performing vision processing comprising:
- stereo imaging a scene about a platform to produce stereo image data;
- producing a map of data from the stereo image data, wherein the map is based on an assumed ground plane;
- identifying an actual ground plane using the map;
- compensating the map for differences between the actual ground plane and the assumed ground plane;
- and
- removing the actual ground plane from the map.
A computer readable medium storing a vision system program that controls a computer to:
- produce a depth map from input imagery;
- determine an actual ground plane from said depth map;
- correct the depth map based on the actual ground plane;
- detect a potential threat in said corrected depth map;
- estimate a size of said detected potential threat;
- estimate a position of said detected potential threat;
- estimate a velocity of said detected potential threat;
- perform a trajectory analysis of said detected potential threat using said estimated position and said estimated velocity;
- perform a collision prediction based on said trajectory analysis;
- and
- determine if a collision is imminent based on said collision prediction and on said estimated size of said potential threat.
A collision avoidance system comprising:
- a collision detection system comprising:
- a stereo camera pair for producing imagery of a scene;
- a stereo image preprocessor for preprocessing said imagery;
- a map generator for producing from said preprocessed imagery a map referenced to an assumed ground plane;
- and
- a target processor for determining the actual ground plane from said map and for removing that ground plane from said map.
A computer readable medium storing a vision system program that controls a computer to:
- produce a depth map from input imagery;
- determine an actual ground plane from said depth map;
- and
- removing the actual ground from the depth map.
Dependencies are inferred from the claim text.