Obstacle detection apparatus and a method therefor
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United States of America Patent
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Oct 14, 2008
Grant Date -
Jul 28, 2005
app pub date -
Jan 21, 2005
filing date -
Jan 23, 2004
priority date (Note) -
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Abstract
An obstacle detection apparatus includes an image input unit inputting a image sequence captured by an image sensor, a velocity detector deriving velocity vectors representing motions of a to-be-detected point and a to-be-compared point on each image of the image sequence, a predictive velocity vector calculator calculating a predictive velocity vector of the to-be-detected point using a detected velocity vector of the to-be-compared point, an obstacle detector detecting the to-be-detected point as a point on the obstacle when a horizontal component of a detected velocity vector of the to-be-detected point is larger than a horizontal component of the predictive velocity vector by a given threshold, and an obstacle information output unit outputting information on the to-be-detected point detected as the obstacle.
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