Method and apparatus for detecting edges of an object
US7697786B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 14, 2006 |
| Grant date | Apr 13, 2010 |
| Priority date | — |
| Expiry date | Feb 11, 2029 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V2201/08
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The present invention provides a system and method for detecting edges of an object in a pre-crash sensing environment. The method includes extracting vertical edges from peaks in an array of column sums of absolute values of normalized horizontal derivates computed in the intensity image. The pixels with corresponding range image depths proximate the estimated object's closest surface contribute the column sums. The search is conducted for all likely combinations of left/right edge pairs preferably within a pre-determined horizontal range about the object's detected center. The left/right edge pairs that delimit a width within the pre-determined range of possible widths for the object are selected. Alternatively, an additional search is performed on each pair of edges to support any angular or inward slant on the edges of the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.