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: 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: Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectable 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: Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectable 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: Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used, to solve for camera parameters of the second camera from the matching second image points of the second camera.

Abstract: Classification of an object in the field of view of a camera. A processor is configured to capture multiple image frames from the camera. A candidate image is detected in the image frames. Alignment of the candidate image is determined relative to at least one previously known training image by inputting the candidate image into a trained alignment classifier and outputting one or more alignment variables therefrom associated with the candidate image. The candidate image and the alignment variable(s) are input into a trained object classifier. The object is classified responsive to the alignment variable(s).

Abstract: Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectable 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: Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used to solve for camera parameters of the second camera from the matching second image points of the second camera.

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: Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used, to solve for camera parameters of the second camera from the matching second image points of the second camera.

Abstract: Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used, to solve for camera parameters of the second camera from the matching second image points of the second camera.

Abstract: Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used, to solve for camera parameters of the second camera from the matching second image points of the second camera.

Abstract: Classification of an object in the field of view of a camera. A processor is configured to capture multiple image frames from the camera. A candidate image is detected in the image frames. Alignment of the candidate image is determined relative to at least one previously known training image by inputting the candidate image into a trained alignment classifier and outputting one or more alignment variables therefrom associated with the candidate image. The candidate image and the alignment variable(s) are input into a trained object classifier. The object is classified responsive to the alignment variable(s).

Abstract: Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used, to solve for camera parameters of the second camera from the matching second image points of the second camera.

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: 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: 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 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.