Abstract: An image sensor and a pre-processing circuit adapted to associate weights respectively with cells of a grid. The cells respectively may include multiple contiguous picture elements of the image sensor. The pre-processing circuit may be configured to adaptively change the weights responsive to changes in the scene being imaged by the image sensor. The number of the cells per distance on the surface of the image sensor may be substantially less than the resolution of the image sensor. The cells which share the same weights may specify a region of interest on the image sensor.

Abstract: Parallel processing of an image using an array of addressable registers. Image features are extracted from the image. The image features are storable as data. According to respective values of a sorting key derived from a parameter of the data, the image features are sorted into N buckets. Using an array of M addressable registers, where M is less than N, the data are summed within the buckets to perform a histogram of the image features, according to values of a histogram key derived from said a parameter of the data.

Abstract: An image processing system including a vector processor and a memory adapted for attaching to the vector processor. The memory is adapted to store multiple image frames. The vector processor includes an address generator operatively attached to the memory to access the memory. The address generator is adapted for calculating addresses of the memory over the multiple image frames. The addresses may be calculated over the image frames based upon an image parameter. The image parameter may specify which of the image frames are processed simultaneously. A scalar processor may be attached to the vector processor. The scalar processor provides the image parameter(s) to the address generator for address calculation over the multiple image frames. An input register may be attached to the vector processor. The input register may be adapted to receive a very long instruction word (VLIW) instruction.

Abstract: Correcting image distortion during camera motion using a system including a processor and a camera having a rolling shutter. Multiple image frames are captured by the camera equipped with the rolling shutter. The captured image frames include a base image frame and a previous image frame. Multiple time stamps are recorded respectively for multiple corresponding image points in the previous and base image frames. For the corresponding image points, multiple ego-motions are computed responsive to the time stamps of the corresponding image points of the base image frame and the previous image frame to correct the image distortion caused by the rolling shutter.

Abstract: Detection of three dimensional obstacles using a system mountable in a host vehicle including a camera connectible to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, an imaged feature is detected of an object in the environment of the vehicle. The image frames are portioned locally around the imaged feature to produce imaged portions of the image frames including the imaged feature. The image frames are processed to compute a depth map locally around the detected imaged feature in the image portions. Responsive to the depth map, it is determined if the object is an obstacle to the motion of the vehicle.

Abstract: Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectible to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, a line is selected below which the road is imaged. The line separates between upper images essentially excluding images of the road and lower images essentially including images of the road. One or more of the lower images is warped, according to a road homography to produce at least one warped lower image. The three-dimensional structure may be provided from motion of a matching feature within the upper images or from motion of a matching feature within at least one of the lower images and at least one warped lower image.

Abstract: An arithmetic logic unit (ALU) including a first routing grid connected to multiple data lanes to drive first data to the data lanes. A second routing grid is connected to the data lanes to drive second data to the data lanes. Each of the data lanes include multiple, e.g. N, functional units with first inputs from the first routing grid and second inputs from the second routing grid. The functional units compute pairwise a function of the respective first data on the respective first inputs and the respective second data on the respective second inputs. Each of the data lanes include a reduction unit with inputs adapted to receive K? bits per word from the functional units. The reduction unit is configured to perform a reduction operation configured to output an output result having a reduced number J? bits per word, wherein J? is less than N multiplied by K?.

Abstract: Arbitrating memory access between a central processing unit CPU and a peripheral device to main memory. The memory access to and from the main memory by the CPU and memory access to and from the main memory by the peripheral device is prioritized respectively according to a CPU priority level and a peripheral device priority level. An arbitration module is provided externally to the CPU, to the peripheral device and to the memory controller. The arbitration module receives the peripheral device priority level. When the CPU priority level and the peripheral device priority level are both set at the highest available priority level, the arbitration module outputs to the memory controller a new CPU priority level less than the highest available priority level.

Abstract: A system mounted on a vehicle for detecting an obstruction on a surface of a window of the vehicle, a primary camera is mounted inside the vehicle behind the window. The primary camera is configured to acquire images of the environment through the window. A secondary camera is focused on an external surface of the window, and operates to image the obstruction. A portion of the window, i.e. window region is subtended respectively by the field of view of the primary camera and the field of view of the secondary camera. A processor processes respective sequences of image data from both the primary camera and the secondary camera.

Abstract: A system-on-chip (SoC) with a debugging methodology. The system-on-chip (SoC) includes a central processing unit (CPU) and multiple computing elements connected to the CPU. The CPU is configured to program the computing elements with task descriptors and the computing elements are configured to receive the task descriptors and to perform a computation based on the task descriptors. The task descriptors include a field which specifies a breakpoint state of the computing element. A system level event status register (ESR) attaches to and is accessible by the CPU and the computing elements. Each of the computing elements has a comparator configured to compare the present state of the computing element to the breakpoint state. The computing element is configured to drive a breakpoint event to the event status register (ESR) if the present state of the computing element is the breakpoint state.

Abstract: A system mounted on a vehicle for detecting an obstruction on a surface of a window of the vehicle, a primary camera is mounted inside the vehicle behind the window. The primary camera is configured to acquire images of the environment through the window. A secondary camera is focused on an external surface of the window, and operates to image the obstruction. A portion of the window, i.e. window region is subtended respectively by the field of view of the primary camera and the field of view of the secondary camera. A processor processes respective sequences of image data from both the primary camera and the secondary camera.

Abstract: The driver assistance system includes a camera operatively connectable to a processor. The driver assistance system is operable while the host vehicle is moving to detect a deviation in vertical contour of a road. A first image frame and a second image frame are captured in the field of view of the camera. Image motion is processed between respective images of the road derived from the first image frame and the second image frame. The vertical contour of the road is estimated using a road surface model of the road and the deviation in the vertical contour is computed from the road surface model.

Abstract: A computerized system mountable on a vehicle operable to detect an object by processing first image frames from a first camera and second image frames from a second camera. A first range is determined to said detected object using the first image frames. An image location is projected of the detected object in the first image frames onto an image location in the second image frames. A second range is determined to the detected object based on both the first and second image frames. The detected object is tracked in both the first and second image frames When the detected object leaves a field of view of the first camera, a third range is determined responsive to the second range and the second image frames.

Abstract: A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.

Abstract: A vehicle warning system that includes: a first camera mounted on the vehicle at a first longitudinal position along the length of the vehicle, which acquires consecutively in real time a plurality of first camera image frames; a second camera mounted on the vehicle at a second longitudinal position along the length of the vehicle, which acquires second camera image frames; and a processor configured to use information in both first and second camera image frames to determine whether there is a danger of a collision between the vehicle and an object shown in both the first and second camera images. The first and second longitudinal positions may be at different positions along the length of the vehicle.

Abstract: A camera mount for mounting a camera inside a windshield of a vehicle. The camera includes a lens mount and a camera housing. The front tip of the lens mount is constrained to be in close proximity to or constrained to contact the inside of the windshield for different rake angles of the windshield.

Abstract: Driver assistance systems for detecting a structural barrier extending along a road. The driver assistance system may be mountable in a host vehicle. The camera may capture multiple image frames in the forward field of view of the camera. A processor may process motion of images of the barrier in the image frames. The camera may be a single camera. The motion of the images may be responsive to forward motion of the host vehicle and/or the motion of the images may be responsive to lateral motion of the host vehicle.

Abstract: A method for detecting and identifying a traffic sign in a computerized system mounted on a moving vehicle. The system includes a camera mounted on the moving vehicle. The camera captures in real time multiple image frames of the environment in the field of view of the camera and transfers the image frames to an image processor. The processor is programmed for performing the detection of the traffic sign and for performing another driver assistance function. The image frames are partitioned into the image processor into a first portion of the image frames for the detection of the traffic sign and into a second portion of the image frames for the other driver assistance function. Upon detecting an image suspected to be of the traffic sign in at least one of said image frames of the first portion, the image is tracked in at least one of the image frames of the second portion.

Abstract: A storage buffer attached to an image processor for stereo image processing. The processor compares a first image and a second image. The storage buffer stores image data of the second image. The storage buffer includes: a data-shifting-hardware mechanism which while the processor compares a patch of the first image to a swath of the second image, the data shifting mechanism using hardware within the storage buffer shifts at least a portion of the swath within the storage buffer. The data-shifting hardware mechanism includes preferably digital multiplexers with respective selectable inputs from adjacent and non-adjacent columns of data within the storage buffer and selectable inputs from adjacent rows of data within the storage buffer.

Abstract: A road skeleton estimation system generates an estimate as to a skeleton of at least a portion of a roadway ahead of a vehicle. The road skeleton estimation system includes an image receiver and a processor. The image receiver is configured to receive image information relating to at least one image recorded ahead of the vehicle. The processor is configured to process the image information received by the image receiver to generate an estimate of the skeleton of at least a portion of the roadway ahead of the vehicle.