Vehicle with improved traffic-object position detection using symmetric search
AssigneeHonda Motor Co., Ltd.
InventorsNils Einecke, Sven Rebhan, Morimichi Nishigaki
Life of this patent
Estimating the term…
Abstract
A method for detecting the position of a target object in the environment of a host vehicle. The method may include receiving a first position of the target object as detected by an object position sensor which emits waves and receives the waves that are reflected back by the target object, and receiving an image containing the target object as detected by an image sensor. The method may also include projecting the first position on the image, and refining the first position by computing a second refined position of the target object on the basis of a symmetry search within the image.
Claims22
A method for detecting the position of a target object in the environment of a host vehicle, comprising the following steps:
- receiving a first position information on the target object using an object position sensor which emits waves and receives the waves that are reflected back by the target object,
- receiving an image containing the target object as detected by an image sensor,
- projecting the first position on the image, and
- refining the first position by computing a second refined position of the target object on the basis of a symmetry search within the image,
- wherein the symmetry search is performed within a horizontal symmetry search area, the symmetry search area being located in the image in accordance with the first position, centered on the first position and being defined based on a precision limit of the object position sensor.
An apparatus for detecting the position of a target object in the environment of a host vehicle, the apparatus comprising:
- an object position sensor for detecting a first position of the target object by emitting waves and receiving the waves that are reflected back by the target object,
- an image sensor for generating an image containing the target object,
- a device for projecting the first position on the image, and for refining the first position by computing a second position of the target object on the basis of a symmetry search within the image,
- wherein the symmetry search is performed within a horizontal symmetry search area, the symmetry search area being located in the image in accordance with the first position, centered on the first position and being defined based on a precision limit of the object position sensor.
A system for detecting the position of a target object in the environment of a host vehicle, the system comprising:
- an object position sensor for detecting a first position of the target object by emitting waves and receiving the waves that are reflected back by the target object,
- an image sensor for generating an image containing the target object,
- a device for projecting the first position on the image, and for refining the first position by computing a second position of the target object on the basis of a symmetry search within the image,
- wherein the symmetry search is performed within a horizontal symmetry search area, the symmetry search area being located in the image in accordance with the first position, centered on the first position and being defined based on a precision limit of the object position sensor.
Dependencies are inferred from the claim text.