Estimating distance to an object using a sequence of images recorded by a monocular camera

Patent metadata

Field	Value
Publication number	US-11348266-B2
Application number	US-202017126906-A
Country	US
Kind code	B2
Filing date	Dec 18, 2020
Priority date	Jan 4, 2006
Publication date	May 31, 2022
Grant date	May 31, 2022

Abstract

A method for monitoring headway to an object performable in a computerized system including a camera mounted in a moving vehicle. The camera acquires in real time multiple image frames including respectively multiple images of the object within a field of view of the camera. An edge is detected in in the images of the object. A smoothed measurement is performed of a dimension the edge. Range to the object is calculated in real time, based on the smoothed measurement.

First claim

What is claimed is:

1. A system for determining a distance from a moving vehicle to a pedestrian ahead of the moving vehicle, comprising:
at least one processing device comprising circuitry and a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processing device to:
receive a plurality of images captured by an image capturing device mounted on the moving vehicle, the plurality of images including representations of the pedestrian;
identify in a first image of the plurality of images, a bottom edge of the pedestrian, a top edge of the pedestrian, and a horizon represented in the first image;
determine based on the bottom edge and the top edge, a first measured height of the pedestrian represented in the first image;
determine a second measured height of the pedestrian based on a difference between a vertical position of the bottom edge and a vertical position of the horizon represented in the first image; and
determine a distance from the moving vehicle to the pedestrian based on the first measured height and the second measured height.

2. The system of claim 1 , wherein the second measured height is further determined based on a height of the image capture device.

3. The system of claim 1 , wherein the memory includes instructions that when executed cause the at least one processing device to determine, based on a third measured height from a second image of the plurality of images, a smoothed height of the pedestrian, and wherein the distance from the moving vehicle to the pedestrian is determined based on the smoothed height and the second measured height.

4. The system of claim 1 , wherein the at least one processing device is further configured to determine a refined vertical position of the horizon.

5. The system of claim 4 , wherein determining the refined vertical position comprises detecting a change in position of the moving vehicle.

6. The system of claim 5 , wherein the change in the position is detected based on a pitch angle estimation.

7. The system of claim 6 , wherein the pitch angle estimation is performed based on at least one of an inertial sensor or an analysis of the plurality of images.

8. The system of claim 5 , wherein detecting the change in position of the moving vehicle comprises:
detecting a road lane based on an analysis of one or more of the plurality of images;
determining a vanishing point of the road lane; and
detecting relative motion of the vanishing point.

9. The system of claim 1 , wherein determining the distance from the moving vehicle to the pedestrian comprises subtracting a hood range of the moving vehicle.

10. The system of claim 1 , wherein the at least one processing device is further configured to determine a refined vertical position of the bottom edge of the pedestrian.

11. The system of claim 10 , wherein the refined vertical position of the bottom edge is determined based on mapping pixels in the plurality of images.

12. The method of claim 11 , wherein the method further comprises determining a refined vertical position of the horizon.

13. The method of claim 11 , wherein determining the distance from the moving vehicle to the pedestrian comprises subtracting a hood range of the moving vehicle.

14. The method of claim 11 , wherein the method further comprises determining a refined vertical position of the bottom edge of the pedestrian.

15. The method of claim 11 , wherein the at least one processing device is further configured to provide a warning to a driver of the moving vehicle based on the distance.

16. The system of claim 1 , wherein the at least one processing device is further configured to provide a warning to a driver of the moving vehicle based on the distance.

17. The method of claim 16 , wherein determining the refined vertical position comprises detecting a change in position of the moving vehicle.

18. A method for determining a distance from a moving vehicle to a pedestrian ahead of the moving vehicle, the method comprising:
receiving a plurality of images captured by an image capturing device mounted on the moving vehicle, the plurality of images including representations of the pedestrian;
identifying in a first image of the plurality of images, a bottom edge of the pedestrian, a top edge of the pedestrian, and a horizon represented in the first image;
determining based on the bottom edge and the top edge, a first measured height of the pedestrian represented in the first image;
determining a second measured height of the pedestrian based on a difference between a vertical position of the bottom edge and a vertical position of the horizon represented in the first image; and
determining a distance from the moving vehicle to the pedestrian based on the first measured height and the second measured height.

19. The method of claim 18 , wherein the second measured height is further determined based on a height of the image capture device.

20. The method of claim 19 , wherein the pitch angle estimation is performed based on at least one of an inertial sensor or an analysis of the plurality of images.

21. The method of claim 18 , wherein the method further comprises determining, based on a third measured height from a second image of the plurality of images, a smoothed height of the pedestrian, and wherein the distance from the moving vehicle to the pedestrian is determined based on the smoothed height and the second measured height.

22. The method of claim 18 , wherein the change in the position is detected based on a pitch angle estimation.

23. The system of claim 22 , wherein the refined vertical position of the bottom edge is determined based on mapping pixels in the plurality of images.

24. The method of claim 18 , wherein detecting the change in position of the moving vehicle comprises:
detecting a road lane based on an analysis of one or more of the plurality of images;
determining a vanishing point of the road lane; and
detecting relative motion of the vanishing point.

25. A non-transitory computer-readable medium storing instructions that when executed by at least one processing device perform a method for determining a distance from a moving vehicle to a pedestrian ahead of the moving vehicle, the method comprising:
receiving a plurality of images captured by an image capturing device mounted on the moving vehicle, the plurality of images including representations of the pedestrian;
identifying in a first image of the plurality of images, a bottom edge of the pedestrian, a top edge of the pedestrian, and a horizon represented in the first image;
determining based on the bottom edge and the top edge, a first measured height of the pedestrian represented in the first image;
determining a second measured height of the pedestrian based on a difference between a vertical position of the bottom edge and a vertical position of the horizon represented in the first image; and
determining a distance from the moving vehicle to the pedestrian based on the first measured height and the second measured height.

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Stein Gideon P
• Ferencz Andras D
• Avni Ofer

Classifications

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• G01S11/12

  using electromagnetic waves other than radio waves · CPC title

• B60R2001/1253

  with cameras, video cameras or video screens · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G06T2207/20024

  Filtering details · CPC title