Abstract: An enhanced object detecting method and apparatus is presented. A plurality of successive frames is captured by a monocular camera and the image data of the captured frames are transformed with respect to a predetermined point of view. For instance, the images may be transformed in order to obtain a top-down view. Particular features such as lines are extracted from the transformed image data, and corresponding features of successive frames are matched. An angular change of corresponding features is determined and boundaries of an object are identified based on the angular change of the features.

Abstract: This disclosure relates to a method in which points common to two or more of the images that appear to represent the same real world features are identified, and changes in the location of the points between respective images are used to deduce the motion of the camera and to find the position of the real world features in three dimensional space. In order to determine the scale of the three dimensional information, the position of a reference feature, whose actual distance from the camera is known, is found from the images. The reference feature is found by considering only candidate points selected from candidate points falling within a portion of the image corresponding to a part of the field of view of the camera. The scale is determined from the distance between the camera and the reference feature in the image and in real life.

Abstract: A system (1) for calibrating an image capture device (2) mounted on a motor vehicle for offset from an ideal position and an ideal angular orientation while the vehicle is moving comprises selecting an image (12) in a captured image frame (10) of a stationary object relative to the motor vehicle, which is capable of being tracked through a plurality of successively captured image frames (14a,14d), predicting the locations at which the target image (12b) should appear in the respective successively captured image frames (14a,14d), comparing the actual location of the target image (12a) in the respective successively captured image frames (14a,14d) with the respective predicted locations (12b) and determining calibration values for the camera (2) from the results of the comparison, in the event that the actual (12a) and predicted locations (12b) of the target image in the respective image frames (14a,14d) do not coincide.