WO2005004035A3 - Method and apparatus for ground detection and removal in vision systems - Google Patents

Method and apparatus for ground detection and removal in vision systems Download PDF

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Publication number
WO2005004035A3
WO2005004035A3 PCT/US2004/021550 US2004021550W WO2005004035A3 WO 2005004035 A3 WO2005004035 A3 WO 2005004035A3 US 2004021550 W US2004021550 W US 2004021550W WO 2005004035 A3 WO2005004035 A3 WO 2005004035A3
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WO
WIPO (PCT)
Prior art keywords
map
ground plane
removal
vision system
vision systems
Prior art date
Application number
PCT/US2004/021550
Other languages
French (fr)
Other versions
WO2005004035A2 (en
Inventor
Peng Chang
David Hirvonen
Theodore Camus
Original Assignee
Sarnoff Corp
Ford Motor Co
Peng Chang
David Hirvonen
Theodore Camus
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
Priority claimed from US10/766,976 external-priority patent/US7660436B2/en
Application filed by Sarnoff Corp, Ford Motor Co, Peng Chang, David Hirvonen, Theodore Camus filed Critical Sarnoff Corp
Priority to EP04777587A priority Critical patent/EP1639516A4/en
Publication of WO2005004035A2 publication Critical patent/WO2005004035A2/en
Publication of WO2005004035A3 publication Critical patent/WO2005004035A3/en

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
    • 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

Abstract

A vision system that forms a map of a scene proximate a platform (410), e.g., a vehicle, that determines the actual ground plane form the map (414), and that corrects the map for differences between the actual ground plane (416) and an assumed ground plane. The vision system may remove the actual ground plane from the map to prevent false positives. The vision system can further identify and classify objects and, if appropriate, take evasive action.
PCT/US2004/021550 2003-07-02 2004-07-02 Method and apparatus for ground detection and removal in vision systems WO2005004035A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP04777587A EP1639516A4 (en) 2003-07-02 2004-07-02 Method and apparatus for ground detection and removal in vision systems

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US48446203P 2003-07-02 2003-07-02
US60/484,462 2003-07-02
US10/766,976 US7660436B2 (en) 2003-06-13 2004-01-29 Stereo-vision based imminent collision detection
US10/766,976 2004-01-29
US10/813,768 US7068815B2 (en) 2003-06-13 2004-03-31 Method and apparatus for ground detection and removal in vision systems
US10/813,768 2004-03-31

Publications (2)

Publication Number Publication Date
WO2005004035A2 WO2005004035A2 (en) 2005-01-13
WO2005004035A3 true WO2005004035A3 (en) 2005-06-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2004/021550 WO2005004035A2 (en) 2003-07-02 2004-07-02 Method and apparatus for ground detection and removal in vision systems

Country Status (3)

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US (2) US7068815B2 (en)
EP (1) EP1639516A4 (en)
WO (1) WO2005004035A2 (en)

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US7068815B2 (en) 2006-06-27
US7957562B2 (en) 2011-06-07
WO2005004035A2 (en) 2005-01-13
US20040252864A1 (en) 2004-12-16
EP1639516A2 (en) 2006-03-29
EP1639516A4 (en) 2009-07-15
US20060210117A1 (en) 2006-09-21

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