公开(公告)号：US07741961B1

公开(公告)日：2010-06-22

申请号：US11906046

申请日：2007-09-28

申请人： Abbas Rafii ,  Colin Tracey ,  Stephen Charles Hsu

发明人： Abbas Rafii ,  Colin Tracey ,  Stephen Charles Hsu

IPC分类号： B60Q1/00

CPC分类号： B60Q9/008 ,  B60Q9/005 ,  B60R1/00 ,  B60R2300/107 ,  B60R2300/301 ,  B60R2300/305 ,  B60R2300/307 ,  B60R2300/70 ,  B60R2300/8093 ,  G06T7/20 ,  G06T7/70 ,  G06T2207/30252

摘要： An obstacle detection and tracking system identifies objects in the path of a vehicle equipped with the system and issues a visual, audible, and/or control system warning. The system includes a depth imaging system that acquires depth data from objects in the field of view of a detection zone encompassing at least a portion of the road to be driven upon. It is assumed most of the acquired data represents road plane information. Statistical analysis of the depth image data identifies in (X,Y,Z) space at least one plane of the road being driven, after which identification threshold normal heights above and below the road plane are defined. Imaged objects within the detection zone that are higher or lower than a threshold normal are deemed of potential concern and will generate a warning to the vehicle operator or vehicle.

摘要翻译： 障碍物检测和跟踪系统识别配备有系统的车辆的路径中的物体，并发出视觉，听觉和/或控制系统警告。 该系统包括深度成像系统，该深度成像系统从包含要驱动的道路的至少一部分的检测区域的视场中获取来自物体的深度数据。 假设所获取的大部分数据表示道路平面信息。 深度图像数据的统计分析在（X，Y，Z）空间中识别正在被驱动的道路的至少一个平面，之后定义道路平面上方和下方的识别阈值正常高度。 高于或低于阈值正常的检测区内的成像物体被认为是潜在的关注点，并且将向车辆操作者或车辆产生警告。