Method of determining the boundary of a driveable space
US11195031B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 15, 2017 |
| Grant date | Dec 7, 2021 |
| Priority date | — |
| Expiry date | Mar 30, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30248
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method of determining the boundary of a driveable space in a scene around a vehicle, comprises capturing a first colour image of the scene, computing a set of histograms of oriented gradients, for instance using a HOG algorithm, each histogram corresponding to a cell in a set of cells, assigning an entropy value to the cell by computing the entropy of the histogram for the cell, dividing the image into bins in a way that corresponds to a rectangular grid in the real world, and calculating an overall entropy value for each bin from the entropy values for the cells in the bin and an overall colour characteristic value for each bin. The entropy value and colour characteristic value for each bin are fed into a classifier that is configured to classify regions of the image corresponding to each bin as regions likely to be driveable space or that are not likely to be driveable space, from which the boundary is derived.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.