Estimating distance to an object using a sequence of images recorded by a monocular camera
US8164628B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 30, 2006 |
| Grant date | Apr 24, 2012 |
| Priority date | — |
| Expiry date | Feb 21, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30261
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
In a computerized system including a camera mounted in a moving vehicle. The camera acquires consecutively in real time image frames including images of an object within the field of view of the camera. Range to the object from the moving vehicle is determined in real time. A dimension, e.g. a width, is measured in the respective images of two or more image frames, thereby producing measurements of the dimension. The measurements are processed to produce a smoothed measurement of the dimension. The dimension is measured subsequently in one or more subsequent frames. The range from the vehicle to the object is calculated in real time based on the smoothed measurement and the subsequent measurements. The processing preferably includes calculating recursively the smoothed dimension using a Kalman filter.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.