Obstacle detection apparatus and a method therefor
US7437244B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jan 21, 2005 |
| Grant date | Oct 14, 2008 |
| Priority date | — |
| Expiry date | Oct 29, 2026 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G1/166
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
An obstacle detection apparatus includes an image input unit inputting a image sequence captured by an image sensor, a velocity detector deriving velocity vectors representing motions of a to-be-detected point and a to-be-compared point on each image of the image sequence, a predictive velocity vector calculator calculating a predictive velocity vector of the to-be-detected point using a detected velocity vector of the to-be-compared point, an obstacle detector detecting the to-be-detected point as a point on the obstacle when a horizontal component of a detected velocity vector of the to-be-detected point is larger than a horizontal component of the predictive velocity vector by a given threshold, and an obstacle information output unit outputting information on the to-be-detected point detected as the obstacle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.