| US 7,587,081 B2 | ||
| Method for processing stereo vision data using image density | ||
| Francisco Rovira-Mas, Urbana, Ill. (US); Qin Zhang, Champaign, Ill. (US); and John Franklin Reid, Moline, Ill. (US) | ||
| Assigned to Deere & Company, Moline, Ill. (US); and The University of Illinois, Urbana, Ill. (US) | ||
| Filed on Jan. 30, 2006, as Appl. No. 11/343,142. | ||
| Claims priority of provisional application 60/721325, filed on Sep. 28, 2005. | ||
| Prior Publication US 2007/0071311 A1, Mar. 29, 2007 | ||
| Int. Cl. G06K 9/00 (2006.01) | ||
| U.S. Cl. 382—154 [382/103; 382/104; 345/419; 701/301] | 16 Claims |
| 1. A method for processing stereo vision data using image density, the method comprising:
collecting, by an image collection system, image data comprising left image data and right image data of a particular scene;
estimating an evaluated three dimensional image density rating for one or more respective evaluated volumetric cells within
the particular scene;
estimating a reference three dimensional image density rating for corresponding reference volumetric cell within the particular
scene at a reference range from an imaging unit;
compensating, using an image processor, for the change in image density rating between the reference volumetric cell and each
evaluated volumetric cell by using a compensated image density rating based on a range or relative displacement between the
reference volumetric cell and the evaluated volumetric cell, and by establishing a compensation curve as a function of compensated
three dimensional image density versus range, for volumetric cells between the reference volumetric cell and the evaluated
volumetric cell; and
identifying a presence or absence of an obstacle in a particular compensated volumetric cell in the particular scene if the
particular compensated volumetric cell meets or exceeds a minimum three dimensional image density rating.
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