FR2674354A1 - Procede d'analyse de sequences d'images routieres, dispositif pour sa mise en óoeuvre et son application a la detection d'obstacles. - Google Patents

Procede d'analyse de sequences d'images routieres, dispositif pour sa mise en óoeuvre et son application a la detection d'obstacles. Download PDF

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Publication number
FR2674354A1
FR2674354A1 FR9103502A FR9103502A FR2674354A1 FR 2674354 A1 FR2674354 A1 FR 2674354A1 FR 9103502 A FR9103502 A FR 9103502A FR 9103502 A FR9103502 A FR 9103502A FR 2674354 A1 FR2674354 A1 FR 2674354A1
Authority
FR
France
Prior art keywords
road
image
analysis
color
images
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.)
Granted
Application number
FR9103502A
Other languages
English (en)
French (fr)
Other versions
FR2674354B1 (enExample
Inventor
Stephane Raboisson
Gilles Even
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.)
Thales SA
Original Assignee
Thomson CSF SA
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 Thomson CSF SA filed Critical Thomson CSF SA
Priority to FR9103502A priority Critical patent/FR2674354A1/fr
Priority to EP92910047A priority patent/EP0588815B1/fr
Priority to JP4509516A priority patent/JPH06508946A/ja
Priority to PCT/FR1992/000329 priority patent/WO1993021596A1/fr
Publication of FR2674354A1 publication Critical patent/FR2674354A1/fr
Application granted granted Critical
Publication of FR2674354B1 publication Critical patent/FR2674354B1/fr
Priority to US08/715,248 priority patent/US5706355A/en
Granted legal-status Critical Current

Links

Classifications

    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • 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
    • G06T2207/30256—Lane; Road marking
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
FR9103502A 1991-03-22 1991-03-22 Procede d'analyse de sequences d'images routieres, dispositif pour sa mise en óoeuvre et son application a la detection d'obstacles. Granted FR2674354A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR9103502A FR2674354A1 (fr) 1991-03-22 1991-03-22 Procede d'analyse de sequences d'images routieres, dispositif pour sa mise en óoeuvre et son application a la detection d'obstacles.
EP92910047A EP0588815B1 (fr) 1991-03-22 1992-04-14 Procede et dispositif d'analyse de sequences d'images routieres pour la detection d'obstacles
JP4509516A JPH06508946A (ja) 1991-03-22 1992-04-14 障害物を検出するための道路画像のシーケンス分析方法および装置
PCT/FR1992/000329 WO1993021596A1 (fr) 1991-03-22 1992-04-14 Procede et dispositif d'analyse de sequences d'images routieres pour la detection d'obstacles
US08/715,248 US5706355A (en) 1991-03-22 1996-09-19 Method of analyzing sequences of road images, device for implementing it and its application to detecting obstacles

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9103502A FR2674354A1 (fr) 1991-03-22 1991-03-22 Procede d'analyse de sequences d'images routieres, dispositif pour sa mise en óoeuvre et son application a la detection d'obstacles.
PCT/FR1992/000329 WO1993021596A1 (fr) 1991-03-22 1992-04-14 Procede et dispositif d'analyse de sequences d'images routieres pour la detection d'obstacles
US08/715,248 US5706355A (en) 1991-03-22 1996-09-19 Method of analyzing sequences of road images, device for implementing it and its application to detecting obstacles

Publications (2)

Publication Number Publication Date
FR2674354A1 true FR2674354A1 (fr) 1992-09-25
FR2674354B1 FR2674354B1 (enExample) 1995-05-05

Family

ID=27252422

Family Applications (1)

Application Number Title Priority Date Filing Date
FR9103502A Granted FR2674354A1 (fr) 1991-03-22 1991-03-22 Procede d'analyse de sequences d'images routieres, dispositif pour sa mise en óoeuvre et son application a la detection d'obstacles.

Country Status (3)

Country Link
US (1) US5706355A (enExample)
FR (1) FR2674354A1 (enExample)
WO (1) WO1993021596A1 (enExample)

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FR2706211A1 (fr) * 1993-06-08 1994-12-16 Thomson Csf Procédé de traitement d'images routières et de suivi d'obstacles, et dispositif pour sa mise en Óoeuvre.
FR2749419A1 (fr) * 1996-05-31 1997-12-05 Sagem Procede et dispositif d'identification et de localisation d'objets fixes le long d'un trajet
EP0827127A1 (en) * 1996-08-28 1998-03-04 Matsushita Electric Industrial Co., Ltd. Local positioning apparatus, and method therefor
EP0837378A3 (en) * 1996-10-17 1998-05-06 STMicroelectronics S.r.l. Method for identifying marking stripes of road lanes
DE19938266A1 (de) * 1999-08-12 2001-02-15 Volkswagen Ag Verfahren und Einrichtung zur elektronischen bzw. elektronisch visuellen Erkennung von Verkehrszeichen
WO2003001472A1 (en) * 2001-06-23 2003-01-03 Lucas Industries Limited An object location system for a road vehicle
US8818042B2 (en) 2004-04-15 2014-08-26 Magna Electronics Inc. Driver assistance system for vehicle
US8842176B2 (en) 1996-05-22 2014-09-23 Donnelly Corporation Automatic vehicle exterior light control
US8917169B2 (en) 1993-02-26 2014-12-23 Magna Electronics Inc. Vehicular vision system
US8993951B2 (en) 1996-03-25 2015-03-31 Magna Electronics Inc. Driver assistance system for a vehicle
US9171217B2 (en) 2002-05-03 2015-10-27 Magna Electronics Inc. Vision system for vehicle
US9436880B2 (en) 1999-08-12 2016-09-06 Magna Electronics Inc. Vehicle vision system
US10071676B2 (en) 2006-08-11 2018-09-11 Magna Electronics Inc. Vision system for vehicle
CN118053136A (zh) * 2022-11-16 2024-05-17 华为技术有限公司 目标检测方法、装置及存储介质

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US6297844B1 (en) 1999-11-24 2001-10-02 Cognex Corporation Video safety curtain
US6678394B1 (en) 1999-11-30 2004-01-13 Cognex Technology And Investment Corporation Obstacle detection system
US20010031068A1 (en) * 2000-04-14 2001-10-18 Akihiro Ohta Target detection system using radar and image processing
US7167575B1 (en) 2000-04-29 2007-01-23 Cognex Corporation Video safety detector with projected pattern
US6469734B1 (en) 2000-04-29 2002-10-22 Cognex Corporation Video safety detector with shadow elimination
US6701005B1 (en) 2000-04-29 2004-03-02 Cognex Corporation Method and apparatus for three-dimensional object segmentation
US6819779B1 (en) 2000-11-22 2004-11-16 Cognex Corporation Lane detection system and apparatus
US7639842B2 (en) * 2002-05-03 2009-12-29 Imagetree Corp. Remote sensing and probabilistic sampling based forest inventory method
AU2003256435A1 (en) * 2002-08-16 2004-03-03 Evolution Robotics, Inc. Systems and methods for the automated sensing of motion in a mobile robot using visual data
DE10253510A1 (de) * 2002-11-16 2004-05-27 Robert Bosch Gmbh Vorrichtung und Verfahren zur Verbesserung der Sicht in einem Kraftfahrzeug
US7684624B2 (en) * 2003-03-03 2010-03-23 Smart Technologies Ulc System and method for capturing images of a target area on which information is recorded
JP4319857B2 (ja) * 2003-05-19 2009-08-26 株式会社日立製作所 地図作成方法
US8326084B1 (en) 2003-11-05 2012-12-04 Cognex Technology And Investment Corporation System and method of auto-exposure control for image acquisition hardware using three dimensional information
WO2005093657A1 (ja) * 2004-03-29 2005-10-06 Pioneer Corporation 道路景観解析装置及び方法
US7881496B2 (en) 2004-09-30 2011-02-01 Donnelly Corporation Vision system for vehicle
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DE102007012458A1 (de) * 2007-03-15 2008-09-18 Robert Bosch Gmbh Verfahren zur Objektbildung
US8126260B2 (en) * 2007-05-29 2012-02-28 Cognex Corporation System and method for locating a three-dimensional object using machine vision
US8803966B2 (en) * 2008-04-24 2014-08-12 GM Global Technology Operations LLC Clear path detection using an example-based approach
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JP5272042B2 (ja) * 2011-05-12 2013-08-28 富士重工業株式会社 環境認識装置および環境認識方法
CN102393744B (zh) * 2011-11-22 2014-09-10 湖南大学 一种无人驾驶汽车的导航方法
CN102514572B (zh) * 2012-01-17 2014-05-28 湖南大学 一种道路偏离预警方法
KR20140019501A (ko) * 2012-08-06 2014-02-17 현대자동차주식회사 장애물 인식을 위한 분류기의 생성방법
JP5996421B2 (ja) * 2012-12-26 2016-09-21 ヤマハ発動機株式会社 障害物検出装置及びそれを用いた車両
CN103310006B (zh) * 2013-06-28 2016-06-29 电子科技大学 一种车辆辅助驾驶系统中的感兴趣区域提取方法
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KR102261329B1 (ko) * 2015-07-24 2021-06-04 엘지전자 주식회사 안테나, 차량용 레이더, 및 이를 구비하는 차량
JP6612135B2 (ja) * 2016-01-14 2019-11-27 日立オートモティブシステムズ株式会社 車両検出装置および配光制御装置
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US8917169B2 (en) 1993-02-26 2014-12-23 Magna Electronics Inc. Vehicular vision system
FR2706211A1 (fr) * 1993-06-08 1994-12-16 Thomson Csf Procédé de traitement d'images routières et de suivi d'obstacles, et dispositif pour sa mise en Óoeuvre.
US8993951B2 (en) 1996-03-25 2015-03-31 Magna Electronics Inc. Driver assistance system for a vehicle
US8842176B2 (en) 1996-05-22 2014-09-23 Donnelly Corporation Automatic vehicle exterior light control
FR2749419A1 (fr) * 1996-05-31 1997-12-05 Sagem Procede et dispositif d'identification et de localisation d'objets fixes le long d'un trajet
EP0810496A3 (fr) * 1996-05-31 1998-08-19 Société SAGEM Procédé et dispositif d'identification et de localisation d'objets fixes le long d'un trajet
EP1383100A3 (en) * 1996-08-28 2005-02-02 Matsushita Electric Industrial Co., Ltd. Local positioning apparatus and method therefor
EP0827127A1 (en) * 1996-08-28 1998-03-04 Matsushita Electric Industrial Co., Ltd. Local positioning apparatus, and method therefor
US6091833A (en) * 1996-08-28 2000-07-18 Matsushita Electric Industrial Co., Ltd. Local positioning apparatus, and a method therefor
EP0837378A3 (en) * 1996-10-17 1998-05-06 STMicroelectronics S.r.l. Method for identifying marking stripes of road lanes
US6212287B1 (en) 1996-10-17 2001-04-03 Sgs-Thomson Microelectronics S.R.L. Method for identifying marking stripes of road lanes
DE19938266A1 (de) * 1999-08-12 2001-02-15 Volkswagen Ag Verfahren und Einrichtung zur elektronischen bzw. elektronisch visuellen Erkennung von Verkehrszeichen
US9436880B2 (en) 1999-08-12 2016-09-06 Magna Electronics Inc. Vehicle vision system
WO2003001472A1 (en) * 2001-06-23 2003-01-03 Lucas Industries Limited An object location system for a road vehicle
US10683008B2 (en) 2002-05-03 2020-06-16 Magna Electronics Inc. Vehicular driving assist system using forward-viewing camera
US9834216B2 (en) 2002-05-03 2017-12-05 Magna Electronics Inc. Vehicular control system using cameras and radar sensor
US11203340B2 (en) 2002-05-03 2021-12-21 Magna Electronics Inc. Vehicular vision system using side-viewing camera
US10351135B2 (en) 2002-05-03 2019-07-16 Magna Electronics Inc. Vehicular control system using cameras and radar sensor
US9171217B2 (en) 2002-05-03 2015-10-27 Magna Electronics Inc. Vision system for vehicle
US9555803B2 (en) 2002-05-03 2017-01-31 Magna Electronics Inc. Driver assistance system for vehicle
US10118618B2 (en) 2002-05-03 2018-11-06 Magna Electronics Inc. Vehicular control system using cameras and radar sensor
US9643605B2 (en) 2002-05-03 2017-05-09 Magna Electronics Inc. Vision system for vehicle
US10187615B1 (en) 2004-04-15 2019-01-22 Magna Electronics Inc. Vehicular control system
US8818042B2 (en) 2004-04-15 2014-08-26 Magna Electronics Inc. Driver assistance system for vehicle
US9948904B2 (en) 2004-04-15 2018-04-17 Magna Electronics Inc. Vision system for vehicle
US10015452B1 (en) 2004-04-15 2018-07-03 Magna Electronics Inc. Vehicular control system
US11847836B2 (en) 2004-04-15 2023-12-19 Magna Electronics Inc. Vehicular control system with road curvature determination
US10110860B1 (en) 2004-04-15 2018-10-23 Magna Electronics Inc. Vehicular control system
US9609289B2 (en) 2004-04-15 2017-03-28 Magna Electronics Inc. Vision system for vehicle
US9008369B2 (en) 2004-04-15 2015-04-14 Magna Electronics Inc. Vision system for vehicle
US10306190B1 (en) 2004-04-15 2019-05-28 Magna Electronics Inc. Vehicular control system
US9428192B2 (en) 2004-04-15 2016-08-30 Magna Electronics Inc. Vision system for vehicle
US10462426B2 (en) 2004-04-15 2019-10-29 Magna Electronics Inc. Vehicular control system
US9736435B2 (en) 2004-04-15 2017-08-15 Magna Electronics Inc. Vision system for vehicle
US10735695B2 (en) 2004-04-15 2020-08-04 Magna Electronics Inc. Vehicular control system with traffic lane detection
US11503253B2 (en) 2004-04-15 2022-11-15 Magna Electronics Inc. Vehicular control system with traffic lane detection
US9191634B2 (en) 2004-04-15 2015-11-17 Magna Electronics Inc. Vision system for vehicle
US11148583B2 (en) 2006-08-11 2021-10-19 Magna Electronics Inc. Vehicular forward viewing image capture system
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US10071676B2 (en) 2006-08-11 2018-09-11 Magna Electronics Inc. Vision system for vehicle
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Also Published As

Publication number Publication date
FR2674354B1 (enExample) 1995-05-05
WO1993021596A1 (fr) 1993-10-28
US5706355A (en) 1998-01-06

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