Estimating distance to an object using a sequence of images recorded by a monocular camera
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United States of America Patent
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Apr 24, 2012
Issued Date -
N/A
app pub date -
Oct 30, 2006
filing date -
Jan 4, 2006
priority date (Note) -
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status (Latency Note)
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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.
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