System und Verfahren zum Erkennen von Hindernissen unter Verwendung einer einzigen Kamera

Es werden ein Hinderniserkennungssystem und ein diesbezügliches Verfahren bereitgestellt. Das Hinderniserkennungsverfahren umfasst folgende Schritte: Erzielen eines ersten Bildes, das von einer Kamera zu einem ersten Zeitpunkt aufgenommen wird; Identifizieren eines senkrechten Randkandidaten in dem ersten Bild, und Messen einer ersten Länge des senkrechten Randkandidaten basierend auf dem ersten Bild; Erzielen eines zweiten Bildes, das von der Kamera zu einem zweiten Zeitpunkt aufgenommen wird; Messen einer zweiten Länge des senkrechten Randkandidaten basierend auf dem zweiten Bild; Berechnen eines Unterschieds zwischen der ersten Länge und der zweiten Länge; und Vergleichen des Unterschieds mit einer vorbestimmten Längenunterschiedsschwelle, und falls der Unterschied größer als die Längenunterschiedsschwelle ist, Ausgeben einer Nachricht, dass ein Hindernis gefunden wurd.

HIGH SPEED OBSTACLE DETECTION CAPABLE OF DETECTING AN OBSTACLE IN AN EFFECTIVE TIME FRAME

PURPOSE: High speed obstacle detection is provided to detect an obstacle at a high speed by not demanding one or more cameras and the calculation of a vehicle motion parameter. CONSTITUTION: An obstacle detection system selects N units of first frames of a video stream obtained from a camera(206). The system deducts N-1 units of image frames from an Nth image frame(208). The system generates adds up N-1 units of difference images to generate a combined image(210). The system excludes a wrong object from a transformed image after performing perspective transformation to the combined image(212,214). The system generates an alarm signal according to the identification of an obstacle after segmenting the obstacle(216-220). COPYRIGHT KIPO 2013 [Reference numerals] (202) Video stream; (204) Correcting a distortion; (206) Selecting first N frames; (208) Subtracting a preceding (N-1)-th image by using an N-th image; (210) Generating a new image by adding a difference image; (212) IPM converting ...

Method and system for generating a surround view

A method and system for generating a surround view are provided. The method may include: establishing a surround surface; obtaining a plurality of images of surroundings; and projecting the images onto the surround surface based on a projection relationship between points on the surround surface and pixels on the images to generate a surround view, where the projection relationship may change with heights of the points on the surround surface. An improved projection effect may be obtained.

OBSTACLE DETECTION SYSTEM

A computer-implemented method of detecting objects in a path of a vehicle is provided. An image frame that depicts the path of the vehicle is obtained. An edge-image corresponding to the image frame is generated. A binary image corresponding to the edge-image is also generated. One or more blobs in the binary image that respectively correspond to one or more objects in the image frame are identified. Based on an analysis of the blobs in the binary image, a determination is made that one of the objects in the image frame is an obstacle in the path of the vehicle. 1. A computer-implemented method of detecting objects in a path of a vehicle comprising:obtaining an image frame that depicts the path of the vehicle;generating an edge-image corresponding to the image frame;generating a binary image corresponding to the edge-image;identifying one or more blobs in the binary image that respectively correspond to one or more objects in the image frame; anddetermining that one of the objects in the image frame is an obstacle in the path of the vehicle based on an analysis of the blobs in the binary image.2. The computer-implemented method of further comprising generating a warning signal in response to the determination that the obstacle is in the path of the vehicle such that receipt of the warning signal at an output device causes the output device to output an alarm.3. The computer-implemented method of where the image frame is a color image frame and further comprising generating a grayscale image frame corresponding to the color image frame.4. The computer-implemented method of further comprising performing a multi-scale integral image-based segmentation of the image frame to generate the edge-image.5. The computer-implemented method of where the edge-image comprises a grid of pixels claim 4 , individual pixels having a pixel value and further comprising comparing the pixel value of the individual pixels in the edge-image to a predetermined pixel value threshold to ...

System and method for detecting obstacles using a single camera

An obstacle detection system and method thereof are provided. The obstacle detection method comprises: obtaining a first image captured by a camera at a first time point; identifying a vertical edge candidate in the first image, and measuring a first length of the vertical edge candidate based on the first image; obtaining a second image captured by the camera at a second time point; measuring a second length of the vertical edge candidate based on the second image; calculating a difference between the first length and the second length; and comparing the difference with a predetermined length difference threshold, if the difference is greater than the length difference threshold, outputting a message that an obstacle is found.

IMAGE LAYER COMPOSITION

A method and a system for image layer composition are provided. The method may include detecting whether a plurality of computing devices of a computing system have available resource for performing image layer composition. The method also includes receiving a plurality of image layers and controlling at least one computing device detected having available resource for performing image layer composition to compose the plurality of image layers. Composition efficiency may be improved.

EGO MOTION ESTIMATING SYSTEM AND A METHOD THEREOF CAPABLE OF QUICKLY AND ACCURATELY ESTIMATING AN EGO MOTION

PURPOSE: An ego motion estimating system and a method thereof are provided to reduce hardware costs for ego motion estimation by determining an ego motion parameter based on a maximum translation parameter. CONSTITUTION: An image converting module(116) obtains perspective images through projection conversion for sub images. A motion compensating module(118) performs geometric translation for the perspective images. An image difference module(120) calculates a difference between the perspective images. An ego motion parameter determining module(108) determines an ego motion parameter based on the processed images. COPYRIGHT KIPO 2013 [Reference numerals] (100) Ego motion estimating system; (102) Image capture device; (104) Output device; (106) Image processing module; (108) Ego motion parameter determining module; (110) Processing module; (112) Processing device; (114) Image dividing module; (116) Image converting module; (118) Motion compensating module; (120) Image difference module ...

Egomotion estimation system and method

A computer-implemented method for determining an egomotion parameter using an egomotion estimation system is provided. First and second image frames are obtained. A first portion of the first image frame and a second portion of the second image frame are selected to respectively obtain a first sub-image and a second sub-image. A transformation is performed on each of the first sub-image and the second sub-image to respectively obtain a first perspective image and a second perspective image. The second perspective image is iteratively adjusted to obtain multiple adjusted perspective images. Multiple difference values are determined that respectively correspond to the respective difference between the first perspective image and the adjusted perspective images. A translation vector for an ego motion parameter is determined. The translation vector corresponds to one of the multiple difference values.

Fast obstacle detection

Systems and methods for detecting obstacles using a single camera positioned on an apparatus in motion over an area of motion, or stationary over a moving area of motion. In an example method, a video stream of images is captured of the area of motion. The images in the video stream may be corrected for lens distortion prior to further processing. An Nth image frame is selected from a sequence of N images in the video stream. A set of N1 difference images is calculated by subtracting each of the N1 previous images from the Nth image. The N1 difference images are added to one another to generate a combined difference image. A perspective transformation is performed on the combined difference image to generate a transformed image. The transformed image is analyzed to detect edges of obstacles in the transformed image. A signal indicating detection of an obstacle in the area of motion may then be generated.

SYSTEM AND METHOD FOR DETECTING OBSTACLES USING A SINGLE CAMERA

The present application provides an obstacle detection system and method thereof. The obstacle detection method comprises: obtaining a first image captured by a camera at a first time point; identifying a vertical edge candidate in the first image, and measuring a first length of the vertical edge candidate based on the first image; obtaining a second image captured by the camera at a second time point; measuring a second length of the vertical edge candidate based on the second image; calculating a difference between the first length and the second length; and comparing the difference with a predetermined length difference threshold, if the difference is greater than the length difference threshold, outputting a message that an obstacle is found. 1. An obstacle detection method comprising:obtaining a first image captured by a camera at a first time point;identifying a vertical edge candidate in the first image, and measuring a first length of the vertical edge candidate based on the first image;obtaining a second image captured by the camera at a second time point;measuring a second length of the vertical edge candidate based on the second image;calculating a difference between the first length and the second length; andcomparing the difference with a predetermined length difference threshold, if the difference is greater than the length difference threshold, outputting a message that an obstacle is found.2. The method of claim 1 , wherein the camera is able to capture color images and/or greyscale images.3. The method of further comprising:generating a first top view image based on the first image using an inverse perspective mapping method;measuring a length of the vertical edge candidate in the first top view image as the first length;generating a second top view image based on the second image using the inverse perspective mapping method; andmeasuring a length of the vertical edge candidate in the second top view image as the second length.4. The method of ...

Method and system for detecting traffic lights

A method for detecting traffic lights is provided. The method includes: obtaining a color image captured by a camera; converting the color image into a first monochrome scale image; converting the first monochrome scale image into a first binary image; identifying a first set of candidate blobs in the first binary image based on at least one predetermined geometric parameter; and determine whether a first region in the color image, which first region corresponds to one of the first set of candidate blobs, is a green traffic light using a green traffic light classifier. The accuracy and efficiency may be improved.

SYSTEM AND METHOD FOR DETECTING PEDESTRIANS USING A SINGLE NORMAL CAMERA

The present application provides a pedestrian detection system and method. The pedestrian detection method includes: obtaining an image captured by a camera; identifying a pedestrian candidate in the image; transforming the image into a top view image; calculating the actual height of the pedestrian candidate based on the top view image and extrinsic parameters of the camera; and determining whether the pedestrian candidate is a true positive by determining whether the actual height of the pedestrian candidate is within a predetermined pedestrian height range. The system and method of the present application have lower cost and higher accuracy compared with conventional technologies.

Method and system for generating surround view

A method and system for generating a surround view are provided. The method may include: establishing a surround surface; obtaining a plurality of images of surroundings; and projecting the images onto the surround surface based on a projection relationship between points on the surround surface and pixels on the images to generate a surround view, where the projection relationship may change with heights of the points on the surround surface. An improved projection effect may be obtained.

System and method for detecting obstacles using a single camera

The present application provides an obstacle detection system and method thereof. The obstacle detection method comprises: obtaining a first image captured by a camera at a first time point; identifying a vertical edge candidate in the first image, and measuring a first length of the vertical edge candidate based on the first image; obtaining a second image captured by the camera at a second time point; measuring a second length of the vertical edge candidate based on the second image; calculating a difference between the first length and the second length; and comparing the difference with a predetermined length difference threshold, if the difference is greater than the length difference threshold, outputting a message that an obstacle is found.

Method and system for detecting moving objects

A moving objects detection method is disclosed. The method may include: identifying a plurality of feature points based on a plurality of video frames; selecting from the plurality of feature points to form a first and a second groups of feature points based on correlations between the plurality of feature points; and identifying in at least one video frame two segments based on the first and the second groups of feature points, respectively, as detected moving objects, where a correlation between two feature points may include a distance component and a movement difference component, where the distance component is related to a distance between the two feature points, and the movement difference component is related to a difference between corresponding movements of the two feature points. A moving objects detection system is also provided.

Method and system for detecting traffic lights

A method for detecting traffic lights is provided. The method includes: obtaining a color image captured by a camera; converting the color image into a first monochrome scale image; converting the first monochrome scale image into a first binary image; identifying a first set of candidate blobs in the first binary image based on at least one predetermined geometric parameter; and determine whether a first region in the color image, which first region corresponds to one of the first set of candidate blobs, is a green traffic light using a green traffic light classifier. The accuracy and efficiency may be improved.

System and method for detecting pedestrians using a single normal camera

The present application provides pedestrian detection system and method. A pedestrian detection method includes obtaining an image captured by a camera, and identifying a pedestrian candidate in the image. According to the method, the pedestrian candidate is confirmed by transforming the image into a top view image, calculating the actual height of the pedestrian candidate based on the top view image and extrinsic parameters of the camera, and determining whether the actual height of the pedestrian candidate is within a predetermined pedestrian height range.

Vehicle obstacle detection system

A computer-implemented method of detecting objects in a path of a vehicle is provided. An image frame that depicts the path of the vehicle is obtained. An edge-image corresponding to the image frame is generated. A binary image corresponding to the edge-image is also generated. One or more blobs in the binary image that respectively correspond to one or more objects in the image frame are identified. Based on an analysis of the blobs in the binary image, a determination is made that one of the objects in the image frame is an obstacle in the path of the vehicle.

FAST OBSTACLE DETECTION

Systems and methods for detecting obstacles using a single camera positioned on an apparatus in motion over an area of motion, or stationary over a moving area of motion. In an example method, a video stream of images is captured of the area of motion. The images in the video stream may be corrected for lens distortion prior to further processing. An Nth image frame is selected from a sequence of N images in the video stream. A set of N−1 difference images is calculated by subtracting each of the N−1 previous images from the Nth image. The N−1 difference images are added to one another to generate a combined difference image. A perspective transformation is performed on the combined difference image to generate a transformed image. The transformed image is analyzed to detect edges of obstacles in the transformed image. A signal indicating detection of an obstacle in the area of motion may then be generated. 1. A system for detecting an obstacle comprising:one camera positioned on an apparatus to capture a video stream of images of an area of motion in which the apparatus is moving; and selecting an Nth image frame from a sequence of N images received in the video stream;', 'determining N−1 difference images by subtracting each of the N−1 previous images from the Nth image;', 'adding the N−1 difference images to generate a combined difference image;, 'an obstacle detection function configured to receive the video stream of images, and to process the video stream of images by detecting edges of obstacles in the transformed image; and', 'generating a signal indicating detection of an obstacle in the area of motion., 'performing a perspective transformation on the combined difference image to generate a transformed image;'}2. The system of where the apparatus is a vehicle moving over a road surface containing the area of motion3. The system of where the apparatus is a stationary apparatus as viewed by an observer where the apparatus is positioned over a surface ...

EGOMOTION ESTIMATION SYSTEM AND METHOD

A computer-implemented method for determining an egomotion parameter using an egomotion estimation system is provided. First and second image frames are obtained. A first portion of the first image frame and a second portion of the second image frame are selected to respectively obtain a first sub-image and a second sub-image. A transformation is performed on each of the first sub-image and the second sub-image to respectively obtain a first perspective image and a second perspective image. The second perspective image is iteratively adjusted to obtain multiple adjusted perspective images. Multiple difference values are determined that respectively correspond to the respective difference between the first perspective image and the adjusted perspective images. A translation vector for an ego motion parameter is determined. The translation vector corresponds to one of the multiple difference values. 1. A computer-implemented method for determining an egomotion parameter using an egomotion estimation system comprising:obtaining a first image frame and a second image frame;selecting a first portion of the first image frame to obtain a first sub-image and selecting a second portion of the second image frame to obtain a second sub-image;performing a transformation on the first sub-image and the second sub-image to respectively obtain a first perspective image and a second perspective image;iteratively adjusting the second perspective image to obtain a plurality of adjusted perspective images;determining a plurality of difference values respectively corresponding to the respective difference between the first perspective image and the plurality of adjusted perspective images; anddetermining a translation vector for an egomotion parameter, the translation vector corresponds to one of the difference values in the plurality of difference values.2. The computer-implemented method of further comprising determining an angle of rotation for the egomotion parameter using the ...

METHOD OF DETECTING AN OBSTACLE AND DRIVER ASSIST SYSTEM

To detect an obstacle in a single image captured using a single image sensor of a driver assist system, at least one image feature is established in the single image which extends along a line passing through a projection point of the image sensor. At least one line extending along a direction normal to a road surface in the world coordinate system is thereby identified based on the single image, which is used as a signature for an obstacle. 1. A method of detecting an obstacle in a single image captured using a single image sensor of a driver assist system , the method comprising:retrieving the single image captured using the single image sensor;identifying at least one line extending along a direction normal to a road surface, the at least one line being identified based on the single image; anddetecting the obstacle based on the identified at least one line;wherein identifying the at least one line comprises establishing at least one image feature in the single image which extends along a line passing through a projection point of the image sensor.2. The method of claim 1 , wherein the step of establishing the at least one image feature comprises:determining the projection point based on parameters of the single image sensor;generating a two-dimensional angle-transformed image based on the single image and the determined projection point, wherein an angle coordinate axis of the angle-transformed image represents angles of lines in the single image passing through the projection point; andapplying an edge detector to the angle-transformed image to identify at least one feature which extends along a direction transverse to the angle coordinate axis in the angle-transformed image.3. The method of claim 2 , wherein applying the edge detector comprises performing a length threshold comparison for a length over which the at least one feature extends along the direction.4. The method of claim 2 , wherein applying the edge detector comprises determining a spatially ...

VIRTUAL NAVIGATION SYSTEM FOR VIDEO

System and method for adjusting the parameters of an image capturing device, such as a camera that captures a sequence of images and generates another image from the captured sequence of images using parameters that identify a virtual location and overlaying the generated image with a 3D generated image where distortion compensation has occurred been applied to the image.

System and method of interactively controlling a virtual camera

A multiple-view virtual camera system comprising one or more image source units, an image processing unit, a parameter setting unit in signal communication with the image processing unit, and a display in signal communication with the image processing unit. The display is configured to display images generated by the image processing unit to a user of the virtual camera system, where the displayed images are configured according to image-related parameters input by a user of the multiple-view camera system through the parameter setting unit. The parameter setting unit may include a user interface, such as a single-touch or multi-touch touchscreen display, configured to accept input from the user that adjusts the parameters that are transmitted to the image processing unit and utilized by the image processing unit. A method of interactively controlling the virtual camera system by a user of a motor vehicle is also disclosed.

Method and system for detecting traffic lights

A method for detecting traffic lights is provided. The method includes: obtaining a color image captured by a camera; converting the color image into a first monochrome scale image; converting the first monochrome scale image into a first binary image; identifying a first set of candidate blobs in the first binary image based on at least one predetermined geometric parameter; and determine whether a first region in the color image, which first region corresponds to one of the first set of candidate blobs, is a green traffic light using a green traffic light classifier. The accuracy and efficiency may be improved.

System and method for detecting pedestrians using a single normal camera

The present application provides pedestrian detection system and method. A pedestrian detection method includes: obtaining an image captured by a camera; identifying a pedestrian candidate in the image; transforming the image into a top view image; calculating the actual height of the pedestrian candidate based on the top view image and extrinsic parameters of the camera; and determining whether the pedestrian candidate is a true positive by determining whether the actual height of the pedestrian candidate is within a predetermined pedestrian height range. The system and method of the present application have lower cost and higher accuracy compared with conventional technologies.

SYSTEM AND METHOD FOR GENERATING A SURROUND VIEW

A method and system for generating a surround view are provided. The method may include: establishing a surround surface; obtaining a plurality of images of surroundings; and projecting the images onto the surround surface based on a projection relationship between points on the surround surface and pixels on the images to generate a surround view, where the projection relationship may change with heights of the points on the surround surface. An improved projection effect may be obtained.

METHOD AND SYSTEM FOR DETECTING MOVING OBJECTS

A moving objects detection method is disclosed. The method may include: identifying a plurality of feature points based on a plurality of video frames; selecting from the plurality of feature points to form a first and a second groups of feature points based on correlations between the plurality of feature points; and identifying in at least one video frame two segments based on the first and the second groups of feature points, respectively, as detected moving objects, where a correlation between two feature points may include a distance component and a movement difference component, where the distance component is related to a distance between the two feature points, and the movement difference component is related to a difference between corresponding movements of the two feature points. A moving objects detection system is also provided. 1. A method for detecting moving objects , comprising:identifying a plurality of feature points based on a plurality of video frames;selecting from the plurality of feature points first and second groups of feature points based on correlations between the plurality of feature points; andidentifying in at least one video frame two segments based on the first and the second groups of feature points, respectively, as detected moving objects,where a correlation between two feature points comprises a distance component and a movement difference component, where the distance component is related to a distance between the two feature points, and the movement difference component is related to a difference between corresponding movements of the two feature points.3. The method of claim 2 , where claim 2 , if dsis greater than σ claim 2 , or if dvis greater than two times of σ claim 2 , the correlation Cis set to zero.4. The method of claim 3 , where σis set to a value in the range of √{square root over (W+H)}/15 to √{square root over (W+H)}/10 claim 3 , where W represents a width of the video frames claim 3 , and H represents a height ...

System and method for detecting pedestrians using a single normal camera

Method and system for generating a surround view

Method and system for detecting moving objects

System and method of interactively controlling a virtual camera

A multiple-view virtual camera system comprising one or more image source units, an image processing unit, a parameter setting unit in signal communication with the image processing unit, and a display in signal communication with the image processing unit. The display is configured to display images generated by the image processing unit to a user of the virtual camera system, where the displayed images are configured according to image-related parameters input by a user of the multiple-view camera system through the parameter setting unit. The parameter setting unit may include a user interface, such as a single-touch or multi-touch touchscreen display, configured to accept input from the user that adjusts the parameters that are transmitted to the image processing unit and utilized by the image processing unit. A method of interactively controlling the virtual camera system by a user of a motor vehicle is also disclosed.

System and method for detecting pedestrians using a single normal camera

The present application provides pedestrian detection system and method. A pedestrian detection method includes: obtaining an image captured by a camera; identifying a pedestrian candidate in the image; transforming the image into a top view image; calculating the actual height of the pedestrian candidate based on the top view image and extrinsic parameters of the camera; and determining whether the pedestrian candidate is a true positive by determining whether the actual height of the pedestrian candidate is within a predetermined pedestrian height range. The system and method of the present application have lower cost and higher accuracy compared with conventional technologies.

System and method for detecting pedestrians using a single normal camera

Egomotion estimation system and method

A computer-implemented method for determining an egomotion parameter using an egomotion estimation system (100) is provided. First and second image frames are obtained. A first portion of the first image frame and a second portion of the second image frame are selected to respectively obtain a first sub-image and a second sub-image. A transformation is performed on each of the first sub-image and the second sub-image to respectively obtain a first perspective image and a second perspective image. The second perspective image is iteratively adjusted to obtain multiple adjusted perspective images. Multiple difference values are determined that respectively correspond to the respective difference between the first perspective image and the adjusted perspective images. A translation vector for an ego motion parameter is determined. The translation vector corresponds to one of the multiple difference values.

Method and system for detecting moving objects

Image layer composition

A method and a system for image layer composition are provided. The method may include: detecting whether a plurality of computing devices of a computing system have available resource for performing image layer composition; receiving a plurality of image layers; and controlling at least one computing device detected having available resource for performing image layer composition to compose the plurality of image layers. Composition efficiency may be improved.

Image layer composition

A method and a system for image layer composition are provided. The method may include: detecting whether a plurality of computing devices of a computing system have available resource for performing image layer composition; receiving a plurality of image layers; and controlling at least one computing device detected having available resource for performing image layer composition to compose the plurality of image layers. Composition efficiency may be improved.

Image layer composition

A virtual navigation system for video

System and method for adjusting the parameters of an image capturing device, such as a camera that captures a sequence of images and generates another image from the captured sequence of images using parameters that identify a virtual location and overlaying the generated image with a 3D generated image where distortion compensation has occurred been applied to the image.

ビデオ用の仮想ナビゲーションシステム

【課題】仮想位置を特定するパラメータを用いて、画像のシーケンスを捕捉し、かつ捕捉された画像のシーケンスから別の画像を生成するカメラ等の画像捕捉デバイスのパラメータを調整し、歪み補正が生じる場合に生成画像を三次元生成画像でオーバーレイすることを画像に適用するためのシステムおよび方法を提供する。 【解決手段】ビデオ用の仮想ナビゲーションシステム（ＶＮＳ）３００は、一連の歪みを有する画像を捕捉するビデオ捕捉ユニット１０２と、一連の三次元画像を生成する三次元オブジェクト画像生成ユニット３０４と、前記一連の三次元画像から歪みを有しない一連の生成画像を生成する画像生成ユニット１０４と、前記一連の三次元画像を前記一連の生成画像でオーバーレイするオーバーレイユニット３０８と、を備える。 【選択図】図３