METHOD AND SYSTEM FOR DETECTING AN APPROACHING OBSTACLE BASED ON IMAGE RECOGNITION

摘要

This invention is about detecting method and system of an approaching obstacle based on image recognition by only using a single wide-angle camera of around view system particularly that could decipher image correctly also could detect the obstacle from input image by it. Detecting method of an approaching obstacle according to this invention includes below characteristics, step 1 which is correcting radial distortion of recorded image from vehicle camera; step 2 which is setting the region has collision risk with the vehicle as the ROI in above corrected image; step 3 of extracting the road marker at least from above ROI and process them weakened; step 4 which is extracting the boundary between the bottom of obstacle and the ground surface (hereinafter referred to as 'bottom boundary of obstacle') from above image with the weakened road markers; step 5 of detecting obstacle in the movement (hereinafter referred to as 'moving obstacle') by using above bottom boundary of obstacle; step 6 which is Deciding the bottom boundary of moving obstacle invaded into above ROI or not; and step 7 of generating the warning event when the result of step 6 is comprising above invasion case.