Abstract: A structured light pattern is projected onto the path of a vehicle so as to generate a plurality of light spots, and an image thereof is captured from the vehicle. A world-space elevation of at least a portion of the light spots is responsive to a pitch angle of the vehicle determined responsive to image-space locations of down-range-separated light spots.

Abstract: A structured light pattern is projected onto the path of a vehicle so as to generate a plurality of light spots, and an image thereof is captured from the vehicle. A world-space elevation of at least a portion of the light spots is responsive to a pitch angle of the vehicle determined responsive to image-space locations of down-range-separated light spots.

Abstract: A structured light pattern is projected onto the path of a vehicle so as to generate a plurality of light spots, and an image thereof is captured from the vehicle. A world-space elevation of at least a portion of the light spots is responsive to a pitch angle of the vehicle determined responsive to image-space locations of down-range-separated light spots.

Abstract: At least one fan beam of light (16, 16.1, 16.2) projected along a path (14, 14.1, 14.2, 48) of a vehicle (12) generates a corresponding at least one light stripe (90, 90.1, 90.2) along the surface (14?, 48?) of the path (14, 48), which is imaged by an imaging system (22, 26) to generate a pair of stereo image components (88?, 88?) which is processed so as to provide for sensing a physical feature of or along the path (14?, 48?).

Abstract: A structured light pattern is projected onto the path of a vehicle so as to generate a plurality of light spots, and an image thereof is captured from the vehicle. A world-space elevation of at least a portion of the light spots is responsive to a pitch angle of the vehicle determined responsive to image-space locations of down-range-separated light spots.

Abstract: At least one fan beam of light (16, 16.1, 16.2) projected along a path (14, 14.1, 14.2, 48) of a vehicle (12) generates a corresponding at least one light stripe (90, 90.1, 90.2) along the surface (14?, 48?) of the path (14, 48), which is imaged by an imaging system (22, 26) to generate a pair of stereo image components (88?, 88?) which is processed so as to provide for sensing a physical feature of or along the path (14?, 48?).

Abstract: A stereo vision system includes a first camera sensor and a second camera sensor. The first camera sensor is configured to sense first reflected energy and generate first sensor signals based on the sensed first reflected energy. The second camera sensor is configured to sense second reflected energy and generate second sensor signals based on the sensed second reflected energy. The stereo vision system further includes a processor configured to receive the first sensor signals from the first camera sensor and configured to receive the second sensor signals from the second camera sensor. The processor is configured to perform stereo matching based on the first sensor signals and the second sensor signals. The first camera sensor is configured to sense reflected energy that is infrared radiation. The second camera sensor is configured to sense reflected energy that is infrared radiation.

Abstract: Objects in a range map image are clustered into regions of interest responsive to range as determined from either a separate ranging system or from a top-down transformation of a range map image from a stereo vision system. A relatively-central location of each region of interest is transformed to mono-image geometry, and the corresponding portion of an associated mono-image is searched radially outwards from the relatively-central location along a plurality of radial search paths, along which the associated image pixels are filtered using an Edge-Preserving Smoothing filter in order to find an edge of the associated object along the radial search path. Edge locations for each of the radial search paths are combined in an edge profile vector that provides for discriminating the object.

Abstract: For each of a plurality of homogeneity regions in relative pixel space, a deviation associated therewith with respect to a pixel to be filtered is given by a sum of associated difference values, each difference value given by the absolute value of a difference between a value of a pixel to be filtered and that of a neighboring pixel selected in accordance with the selected homogeneity region. The filtered pixel value is responsive to values of the neighboring pixels for the homogeneity region with minimum deviation. The relative pixel locations of each homogeneity region are symmetric relative to a radially-extending axis extending outwards in a corresponding polar direction therealong from a relatively central pixel location to a boundary of the homogeneity region, including all relative pixels intersected by the radially-extending axis, different homogeneity regions being associated with different polar directions.

Abstract: For each of a plurality of homogeneity regions in relative pixel space, a deviation associated therewith with respect to a pixel to be filtered is given by a sum of associated difference values, each difference value given by the absolute value of a difference between a value of a pixel to be filtered and that of a neighboring pixel selected in accordance with the selected homogeneity region. The filtered pixel value is responsive to values of the neighboring pixels for the homogeneity region with minimum deviation. The relative pixel locations of each homogeneity region are symmetric relative to a radially-extending axis extending outwards in a corresponding polar direction therealong from a relatively central pixel location to a boundary of the homogeneity region, including all relative pixels intersected by the radially-extending axis, different homogeneity regions being associated with different polar directions.

Abstract: Objects in a range map image are clustered into regions of interest responsive to range as determined from either a separate ranging system or from a top-down transformation of a range map image from a stereo vision system. A relatively-central location of each region of interest is transformed to mono-image geometry, and the corresponding portion of an associated mono-image is searched radially outwards from the relatively-central location along a plurality of radial search paths, along which the associated image pixels are filtered using an Edge-Preserving Smoothing filter in order to find an edge of the associated object along the radial search path. Edge locations for each of the radial search paths are combined in an edge profile vector that provides for discriminating the object.

Abstract: An object in a visual scene is detected responsive to one or more void regions in an associated range-map image generated from associated stereo image components. In one aspect, each element of a valid-count vector contains a count of a total number of valid range values at a corresponding column position from a plurality of rows of the range-map image. The valid-count vector, or a folded version thereof, is filtered, and an integer approximation thereof is differentiated so as to provide for identifying one or more associated void regions along the plurality of rows of the range-map image. For each void region, the image pixels of an associated prospective near-range object are identified as corresponding to one or more modes of a histogram providing a count of image pixels with respect to image pixel intensity, for image pixels from one of the stereo image components within the void region.