Enhanced obstacle detection and tracking for three-dimensional imaging systems used in motor vehicles

A method to detect objects in the path of a motor vehicle moving on a road surface and to identify which of said objects are of potential concern as obstacles, the method comprising the following steps:

• (a) providing a depth imaging system that acquires depth data and is attachable, to said motor vehicle and has a field of view encompassing at least a portion of a desired detection zone in which an object of potential concern to said motor vehicle may be present, said depth imaging system including an emitter of optical energy, at least one detector that detects at least a fraction of the emitted said optical energy reflected by at least one of said objects, and means for determining said depth data from a comparison of the emitted said optical energy and said fraction of said optical energy reflected by at least one of said objects;
• (b) processing data acquired at step (a) to model said road surface in at least said detection zone so as to define at least one road plane therein;
• (c) discerning from data processed at step (b) objects that are of potential concern to said motor vehicle;
• and
• (d) outputting to at least one warning mechanism at least one signal responsive to identification of an object discerned at step (c) as being of potential concern.

A method to reduce occurrence of false-positive in detection of objects in the path of a motor vehicle moving on a road surface and to identify which of said objects are of potential concern as obstacles, the method comprising the following steps:

• (a) providing said motor vehicle with a time-of-flight (TOF) imaging system that acquires depth data and has a field of view encompassing at least a plane of said road surface representing a portion of a desired detection zone in which an object of potential concern to said motor vehicle may be present such that depth data acquired includes a plane of said road surface, said TOF imaging system including an emitter of optical energy, at least one detector that detects at least a fraction of the emitted said optical energy reflected by at least one of said objects, and means for determining said depth data from a comparison of the emitted said optical energy and said fraction of said optical energy reflected by at least one of said objects;
• (b) processing data acquired at step (a) to model said road surface in at least said detection zone so as to define at least one road plane therein;
• (c) discerning from data processed at step (b) objects that are of potential concern to said motor vehicle and;
• (d) outputting at least one warning signal responsive to identification of an object discerned at step (c) as being of potential concern.