Method for representing surroundings
US9042639B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 21, 2012 |
| Grant date | May 26, 2015 |
| Priority date | — |
| Expiry date | Jul 21, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V20/58
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for environmental representation, in which two images of an environment (U) are taken respectively and a disparity image is determined by means of stereo image processing. An unobstructed free space (F) is identified in the disparity image, in that each pixel of the disparity image is allocated either to the unobstructed ground surface (B) or to one of several segments (S11 to Snu) depending on disparity values of the respective pixel. Segments (S11 to Snu) of the same width are formed from pixels of the same or similar distance to an image plane. An object (O1 to Ok) located outside of the free space (F) is modelled in the environment (U) using one segment (S11 to Snu) or several segments (S11 to Snu).
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.