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
Links
- 238000001514 detection method Methods 0.000 title abstract 2
- 238000000034 method Methods 0.000 abstract 4
Classifications
-
- 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
-
- 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; CALCULATING OR 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; CALCULATING OR 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; 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
- G06T2207/30244—Camera pose
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (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.
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) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10318822B2 (en) * | 2017-04-06 | 2019-06-11 | GM Global Technology Operations LLC | Object tracking |
KR20170061640A (ko) * | 2017-04-26 | 2017-06-05 | (주)디렉션 | 원근법 대응 이미지 보정 방법 및 장치 |
JP2019028870A (ja) * | 2017-08-02 | 2019-02-21 | ルネサスエレクトロニクス株式会社 | 移動体制御システム、移動体制御方法、及びプログラム |
US10836379B2 (en) * | 2018-03-23 | 2020-11-17 | Sf Motors, Inc. | Multi-network-based path generation for vehicle parking |
GB2573792B (en) * | 2018-05-17 | 2022-11-09 | Denso Corp | Surround monitoring system for vehicles |
EP3591956A1 (en) * | 2018-07-06 | 2020-01-08 | Continental Automotive GmbH | Device for determining camera blockage |
KR102616205B1 (ko) * | 2018-10-08 | 2023-12-21 | 주식회사 에이치엘클레무브 | 후방 경보 장치, 그 방법 및 제어 시스템 |
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 |
CN109949364B (zh) * | 2019-04-01 | 2023-04-11 | 上海淞泓智能汽车科技有限公司 | 一种基于路侧单目摄像头的车辆姿态检测精度优化方法 |
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 |
CN112389419B (zh) * | 2019-08-12 | 2022-04-08 | 欧特明电子股份有限公司 | 识别停车位的方法和停车辅助系统 |
CN111813116A (zh) * | 2020-07-09 | 2020-10-23 | 海南发控智慧环境建设集团有限公司 | 一种基于三维模型的避障辅助系统 |
CN113071480B (zh) * | 2021-04-30 | 2022-06-03 | 重庆长安汽车股份有限公司 | 自动泊车障碍物检测方法、泊车方法、系统及车辆 |
KR20220154379A (ko) * | 2021-05-13 | 2022-11-22 | 삼성전자주식회사 | 보행자와 카메라 간 거리의 추정 방법 및 장치 |
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 |
CN114979596B (zh) * | 2022-05-27 | 2024-05-07 | 峰米(重庆)创新科技有限公司 | 投影画面控制方法、投影设备、计算机设备及存储介质 |
EP4361952A1 (en) * | 2022-10-26 | 2024-05-01 | Toyota Jidosha Kabushiki Kaisha | Method and system for tracking an object in a scene surrounding a mobile machine |
CN117007061B (zh) * | 2023-08-07 | 2024-06-04 | 重庆大学 | 一种用于无人驾驶平台的基于地标的激光slam方法 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7446798B2 (en) | 2003-02-05 | 2008-11-04 | Siemens Corporate Research, Inc. | Real-time obstacle detection with a calibrated camera and known ego-motion |
EP2071515A1 (en) | 2007-12-11 | 2009-06-17 | Honda Research Institute Europe GmbH | Visually tracking an object in real world using 2D appearance and multicue depth estimations |
CN101336856B (zh) * | 2008-08-08 | 2010-06-02 | 西安电子科技大学 | 辅助视觉系统的信息获取与传递方法 |
DE102010063133A1 (de) * | 2010-12-15 | 2012-06-21 | Robert Bosch Gmbh | Verfahren und System zur Bestimmung einer Eigenbewegung eines Fahrzeugs |
CN102774380A (zh) * | 2011-05-12 | 2012-11-14 | 无锡维森智能传感技术有限公司 | 一种判断车辆行驶状态的方法 |
KR101309519B1 (ko) | 2012-02-21 | 2013-09-24 | 중앙대학교 산학협력단 | 객체 추적 장치 및 방법 |
US10008002B2 (en) * | 2012-02-28 | 2018-06-26 | NXP Canada, Inc. | Single-camera distance estimation |
US20140055615A1 (en) * | 2012-08-27 | 2014-02-27 | Stephen Chen | Parking assistant device |
US9070202B2 (en) | 2013-03-14 | 2015-06-30 | Nec Laboratories America, Inc. | Moving object localization in 3D using a single camera |
CN103150748B (zh) * | 2013-03-18 | 2017-03-22 | 大连慈航电子有限公司 | 倒车影像3d 场景重构方法和系统 |
EP2851870B1 (en) | 2013-09-20 | 2019-01-23 | Application Solutions (Electronics and Vision) Limited | Method for estimating ego motion of an object |
JP6231345B2 (ja) * | 2013-10-18 | 2017-11-15 | クラリオン株式会社 | 車両用発進支援装置 |
CN105869136A (zh) * | 2015-01-22 | 2016-08-17 | 北京雷动云合智能技术有限公司 | 一种基于多摄像机的协作式视觉slam方法 |
US20160214536A1 (en) * | 2015-01-23 | 2016-07-28 | Glenn S. Burdge | Door-Mounted Side View Camera System For A Vehicle |
-
2016
- 2016-10-07 US US15/288,042 patent/US10318826B2/en not_active Expired - Fee Related
-
2017
- 2017-09-28 GB GB1715742.1A patent/GB2557402A/en not_active Withdrawn
- 2017-09-28 RU RU2017133756A patent/RU2017133756A/ru not_active Application Discontinuation
- 2017-09-30 CN CN201710924480.4A patent/CN107914708B/zh active Active
- 2017-10-05 MX MX2017012837A patent/MX2017012837A/es unknown
- 2017-10-05 DE DE102017123180.3A patent/DE102017123180A1/de active Pending
Also Published As
Publication number | Publication date |
---|---|
RU2017133756A (ru) | 2019-03-28 |
CN107914708A (zh) | 2018-04-17 |
US10318826B2 (en) | 2019-06-11 |
GB201715742D0 (en) | 2017-11-15 |
DE102017123180A1 (de) | 2018-04-19 |
GB2557402A (en) | 2018-06-20 |
CN107914708B (zh) | 2022-08-02 |
US20180101739A1 (en) | 2018-04-12 |
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