Apparatus and method for vehicle following with dynamic feature
recognition
    4.
    发明授权
    Apparatus and method for vehicle following with dynamic feature recognition 失效
    车辆跟随动态特征识别的装置和方法

    公开(公告)号:US5835880A

    公开(公告)日:1998-11-10

    申请号:US503943

    申请日:1995-07-19

    摘要: In an apparatus and method for automatic vehicle following, a pair of video cameras are mounted on the front portion of a following vehicle, and each camera generates image data indicative of a respective image of a distinctive mark located on a rearward portion of a lead vehicle. An image processor generates two one-dimensional image-intensity distributions for each mark image based on the image data, and in turn generates a respective edge-intensity distribution based on each image-intensity distribution. The edge-intensity distributions are each generated by taking the first derivative of the respective image-intensity distribution. The image processor in turn generates a respective feature vector based on each edge-intensity distribution, wherein the vector components of each feature vector define select characteristics of the respective mark image. The center points of the two corresponding mark images are determined based on the feature vectors, and a signal processor generates signals indicative of the following distance and the heading angle of the lead vehicle based on the image center points. A window enclosing each mark image is moved upon generating a new mark image to the approximate center point of the preceding image, to substantially follow image movements from one camera image frame to the next, and thereby suppress noise and enhance the image-processing speed of the apparatus.

    摘要翻译: 在用于自动车辆跟随的装置和方法中,一对摄像机安装在后续车辆的前部,并且每个摄像机产生指示位于引导车辆的后部上的特征标记的各自图像的图像数据 。 图像处理器基于图像数据为每个标记图像生成两个一维图像强度分布,并且依次生成基于每个图像强度分布的相应边缘强度分布。 边缘强度分布各自通过取出各个图像强度分布的一阶导数来产生。 图像处理器又基于每个边缘强度分布产生相应的特征向量,其中每个特征向量的向量分量定义相应标记图像的选择特征。 基于特征矢量确定两个对应的标记图像的中心点,并且信号处理器基于图像中心点产生指示跟随距离和前导车辆的前进角度的信号。 在产生新的标记图像到前一图像的近似中心点的同时移动包围每个标记图像的窗口,以基本上跟随从一个相机图像帧到下一个图像帧的图像移动,从而抑制噪声并提高图像处理速度 该装置。