DE602007007452D1 - Hindernisdetektion - Google Patents

Hindernisdetektion

Info

Publication number
DE602007007452D1
DE602007007452D1 DE602007007452T DE602007007452T DE602007007452D1 DE 602007007452 D1 DE602007007452 D1 DE 602007007452D1 DE 602007007452 T DE602007007452 T DE 602007007452T DE 602007007452 T DE602007007452 T DE 602007007452T DE 602007007452 D1 DE602007007452 D1 DE 602007007452D1
Authority
DE
Germany
Prior art keywords
road
area
laser
obstacle
cameras
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
DE602007007452T
Other languages
English (en)
Inventor
Raphael Labayrade
Didier Aubert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Laboratoire Central des Ponts et Chaussees
Institut National de Recherche sur les Transports et leur Securite INRETS
Original Assignee
Laboratoire Central des Ponts et Chaussees
Institut National de Recherche sur les Transports et leur Securite INRETS
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 Laboratoire Central des Ponts et Chaussees, Institut National de Recherche sur les Transports et leur Securite INRETS filed Critical Laboratoire Central des Ponts et Chaussees
Publication of DE602007007452D1 publication Critical patent/DE602007007452D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20004—Adaptive image processing
    • G06T2207/20012—Locally adaptive
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20048—Transform domain processing
    • G06T2207/20061—Hough transform
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20112—Image segmentation details
    • G06T2207/20132—Image cropping
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Push-Button Switches (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
DE602007007452T 2006-03-24 2007-03-22 Hindernisdetektion Active DE602007007452D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0651021A FR2898986B1 (fr) 2006-03-24 2006-03-24 Detection d'obstacle
PCT/FR2007/050980 WO2007113428A1 (fr) 2006-03-24 2007-03-22 Detection d'obstacle

Publications (1)

Publication Number Publication Date
DE602007007452D1 true DE602007007452D1 (de) 2010-08-12

Family

ID=37440604

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602007007452T Active DE602007007452D1 (de) 2006-03-24 2007-03-22 Hindernisdetektion

Country Status (5)

Country Link
EP (1) EP1999484B1 (de)
AT (1) ATE472743T1 (de)
DE (1) DE602007007452D1 (de)
FR (1) FR2898986B1 (de)
WO (1) WO2007113428A1 (de)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2946936B1 (fr) * 2009-06-22 2012-11-30 Inrets Inst Nat De Rech Sur Les Transports Et Leur Securite Dispositif de detection d'obstacles comportant un systeme de restitution sonore
JP5832749B2 (ja) * 2011-01-07 2015-12-16 株式会社日立国際電気 列車内監視システムおよび列車内監視方法
MY165851A (en) * 2011-03-29 2018-05-17 Jura Trade Ltd Method and apparatus for generating and authenticating security documents
CN103123722B (zh) * 2011-11-18 2016-04-27 株式会社理光 道路对象检测方法和系统
US9195236B1 (en) 2012-09-05 2015-11-24 Google Inc. Road flare detection
DE102012112104A1 (de) * 2012-12-11 2014-06-12 Conti Temic Microelectronic Gmbh Verfahren und vorrichtung zur befahrbarkeitsanalyse
US9286520B1 (en) 2013-07-16 2016-03-15 Google Inc. Real-time road flare detection using templates and appropriate color spaces
US10788840B2 (en) * 2016-12-27 2020-09-29 Panasonic Intellectual Property Corporation Of America Information processing apparatus, information processing method, and recording medium
CN110598505B (zh) * 2018-06-12 2023-05-02 海信集团有限公司 障碍物悬空状态判断方法、装置及终端
CN111323767B (zh) * 2020-03-12 2023-08-08 武汉理工大学 一种夜间无人车障碍物检测系统与方法
CN111624622B (zh) * 2020-04-24 2023-05-02 库卡机器人(广东)有限公司 障碍物检测方法、装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05265547A (ja) * 1992-03-23 1993-10-15 Fuji Heavy Ind Ltd 車輌用車外監視装置
GB0115433D0 (en) * 2001-06-23 2001-08-15 Lucas Industries Ltd An object location system for a road vehicle
US6944543B2 (en) * 2001-09-21 2005-09-13 Ford Global Technologies Llc Integrated collision prediction and safety systems control for improved vehicle safety

Also Published As

Publication number Publication date
EP1999484A1 (de) 2008-12-10
ATE472743T1 (de) 2010-07-15
EP1999484B1 (de) 2010-06-30
FR2898986A1 (fr) 2007-09-28
WO2007113428A1 (fr) 2007-10-11
FR2898986B1 (fr) 2008-05-23

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