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MX2017012837A - Deteccion de obstaculos traseros y estimacion de distancia. - Google Patents

Deteccion de obstaculos traseros y estimacion de distancia.

Info

Publication number
MX2017012837A
MX2017012837A MX2017012837A MX2017012837A MX2017012837A MX 2017012837 A MX2017012837 A MX 2017012837A MX 2017012837 A MX2017012837 A MX 2017012837A MX 2017012837 A MX2017012837 A MX 2017012837A MX 2017012837 A MX2017012837 A MX 2017012837A
Authority
MX
Mexico
Prior art keywords
frame
motion
obstacle detection
camera
rear obstacle
Prior art date
Application number
MX2017012837A
Other languages
English (en)
Inventor
Nariyambut Murali Vidya
J Goh Madeline
Zhang Yi
Original Assignee
Ford Global Tech Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ford Global Tech Llc filed Critical Ford Global Tech Llc
Publication of MX2017012837A publication Critical patent/MX2017012837A/es

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
    • G06V10/462—Salient features, e.g. scale invariant feature transforms [SIFT]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/97—Determining parameters from multiple pictures

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)

Abstract

La descripción se refiere a sistemas y métodos para estimar o determinar el movimiento de un vehículo y/o la distancia hasta objetos dentro de la vista de una cámara trasera. Un método para la detección de obstáculos traseros mediante el uso de estructura a partir del movimiento incluye identificar elementos de imagen en un primer cuadro que correspondan a elementos en un segundo cuadro, donde el primer cuadro y el segundo cuadro comprenden cuadros de imagen adyacentes capturados mediante una cámara orientada hacia la parte de atrás de un vehículo. El método incluye determinar parámetros de un modelo de movimiento no plano en función de los elementos de imagen. El método incluye determinar el movimiento de cámara basándose en los parámetros para el modelo de movimiento no plano.
MX2017012837A 2016-10-07 2017-10-05 Deteccion de obstaculos traseros y estimacion de distancia. MX2017012837A (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US15/288,042 US10318826B2 (en) 2016-10-07 2016-10-07 Rear obstacle detection and distance estimation

Publications (1)

Publication Number Publication Date
MX2017012837A true MX2017012837A (es) 2018-09-27

Family

ID=60270227

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2017012837A MX2017012837A (es) 2016-10-07 2017-10-05 Deteccion de obstaculos traseros y estimacion de distancia.

Country Status (6)

Country Link
US (1) US10318826B2 (es)
CN (1) CN107914708B (es)
DE (1) DE102017123180A1 (es)
GB (1) GB2557402A (es)
MX (1) MX2017012837A (es)
RU (1) RU2017133756A (es)

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CN109760688B (zh) * 2018-12-29 2020-07-28 百度在线网络技术（北京）有限公司 路段信息确定方法、装置、车辆及计算机可读存储介质
CN111583324B (zh) * 2019-02-19 2023-11-28 顺丰科技有限公司 单目图像深度估测装载率识别方法和装置
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CN110135377B (zh) * 2019-05-21 2022-10-14 北京百度网讯科技有限公司 车路协同中物体运动状态检测方法、装置和服务器
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CN114565674B (zh) * 2022-03-03 2023-07-04 江苏集萃清联智控科技有限公司 自动驾驶车辆城市结构化场景纯视觉定位方法及装置
CN114494444A (zh) * 2022-04-15 2022-05-13 北京智行者科技有限公司 障碍物动静态估计方法及电子设备和存储介质
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Also Published As

Publication number Publication date
RU2017133756A (ru) 2019-03-28
GB2557402A (en) 2018-06-20
DE102017123180A1 (de) 2018-04-19
US20180101739A1 (en) 2018-04-12
CN107914708A (zh) 2018-04-17
CN107914708B (zh) 2022-08-02
US10318826B2 (en) 2019-06-11
GB201715742D0 (en) 2017-11-15

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