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Shadow removal in an image captured by a vehicle-based camera for clear path detection

An image-in-image technology, applied in the field of vision-based object detection systems, can solve problems such as being unsuitable for imagers

Inactive Publication Date: 2012-01-11
GM GLOBAL TECH OPERATIONS LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the low-cost imagers commonly used in vehicle vision-based object detection systems do not fit the narrow-band sensor assumptions
Therefore, existing techniques for shadow removal are not suitable for use with low-cost produced imagers

Method used

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  • Shadow removal in an image captured by a vehicle-based camera for clear path detection
  • Shadow removal in an image captured by a vehicle-based camera for clear path detection
  • Shadow removal in an image captured by a vehicle-based camera for clear path detection

Examples

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Embodiment Construction

[0064] figure 1 A vehicle 10 is shown traveling along a road 12 . The vision-based imaging device 14 captures images of the road ahead of the vehicle 10 to detect images within a travelable area (hereinafter referred to as a clear path). A vision-based imaging device 14 is used to detect objects. In a preferred embodiment, vision-based imaging device 14 is used to identify clear paths or lane markings in roads for systems such as, but not limited to, lane departure warning systems. Vision-based imaging device 14 is preferably mounted inside the vehicle, just behind the windshield, for capturing events occurring outside and in front of the vehicle. While the vision-based imaging device 14 may be used for a variety of purposes (eg, to enhance a driver's night vision), the primary purpose described herein is for systems that need to recognize road markings, lane markings, road markings, or other road objects. Examples of such systems include, but are not limited to, lane depar...

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Abstract

The present invention relates to a shadow removal in an image captured by a vehicle-based camera for clear path detection. A method for is provided for creating a shadow-reduced image from a captured image for distinguishing a clear path of travel. Each pixel of a captured input image is plotted according to a two dimensional logarithmic graph. A specific color set relating to an associated color value of a clear path. A linear illumination-invariant axis is determined as a function of the specific color set. An illumination direction for the linear illumination-invariant axis is determined. A log-chromaticity value of each plotted pixel of the specific color set is projected on the axis. Edges in the input image and the illumination-invariant image domain are identified. The identified edges of the input image are compared to identify edges in the illumination-invariant image domain. A determination is made whether a shadow edge is present in response to comparing the edges. A shadow-reduced image is generated for scene analysis by a vehicle vision-based system.

Description

technical field [0001] Embodiments generally relate to vision-based object detection systems. Background technique [0002] Lighting situations such as shadows can cause errors in vision-based object detection systems. Shadows distort the color of captured objects, causing blurring between (1) edges produced by shadows and (2) edges between different entities such as roads and landscapes. Some applications have been used to filter out shadows, but prior art systems assume the use of cameras with high quality imagers. Cameras with high-quality imagers are expensive and have large package sizes, so they are not practical, especially in vision systems based on mass-produced vehicles. With high quality imagers, camera sensors are assumed to be narrowband and behave like Dirac delta functions, since they have a non-null response at only one wavelength. However, the low-cost imagers commonly used in vehicle vision-based object detection systems do not fit the narrow-band sensor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/40G06K9/00
CPCG06T2207/30252G06K9/00791G06T5/007G06T7/0083G06T2207/10024G06K9/346G06T7/12G06V20/56G06V10/273G06T5/90
Inventor W.张Q.吴V.巴加瓦图拉
Owner GM GLOBAL TECH OPERATIONS LLC
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