US 8,378,851 B2Granted

Fusion of images in enhanced obstacle detection

AssigneeMobileye Technologies Ltd.

InventorsGideon Stein, Amnon Shashua, Yoram Gdalyahu, Harel Livyatan

Life of this patent

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Abstract

A vehicle warning system that includes: a first camera mounted on the vehicle at a first longitudinal position along the length of the vehicle, which acquires consecutively in real time a plurality of first camera image frames; a second camera mounted on the vehicle at a second longitudinal position along the length of the vehicle, which acquires second camera image frames; and a processor configured to use information in both first and second camera image frames to determine whether there is a danger of a collision between the vehicle and an object shown in both the first and second camera images. The first and second longitudinal positions may be at different positions along the length of the vehicle.

Claims24

Dependent claims

A system comprising:

a first camera mountable on a vehicle;
a second camera mountable on the vehicle behind the first camera;
and
a processor operatively connected to said first and second cameras, wherein said processor is adapted to acquire a first image frame from said first camera and to acquire a second image frame from said second camera;
wherein said processor is configured to locate a first feature of a first image of an object in the first image frame and a second feature of a second image of said object in the second image frame and determine alignment thereby of the first and second image frames,
wherein respective locations of the first feature in the first image frame and the second feature in the second image frame are responsive to respective positions of the second camera behind the first camera, and
wherein said processor is configured to compute a distance between said vehicle and said object based on said alignment.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 12/843,368Filed 26 Jul 2010 · continuation
Priority: 31 May 2006
Published: US 2011/0018700 A127 Jan 2011
Granted: 19 Feb 2013
Term ends: Not estimatedThe source records don’t support an estimate.

Classification23 codes

G06F 18/251
Fusion techniques: of input or preprocessed data
G06V 20/584
Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or…
G06T 7/246
Analysis of motion: using feature-based methods, e.g. the tracking of corners or segments
G06V 10/143
Optical characteristics of the device performing the acquisition or on the illumination arrangements: sensing or illuminating at different wavelengths

Family

Application60/809,356Us provisional application · filed 31 May 2006
Application11/696,731Parent of this continuation · filed 5 Apr 2007
US 2011/0018700 A1Pre-grant publication · published 27 Jan 2011
US 7,786,898 B2Parent of this continuation
US 2008/0036576 A1Published application
US 8,378,851 B2This patent

From the US filing history. Foreign family members aren’t listed.